[go: up one dir, main page]

PL1984150T3 - Zrobotyzowany system medyczny z ramieniem manipulatora typu współrzędnych cylindrycznych - Google Patents

Zrobotyzowany system medyczny z ramieniem manipulatora typu współrzędnych cylindrycznych

Info

Publication number
PL1984150T3
PL1984150T3 PL07704331T PL07704331T PL1984150T3 PL 1984150 T3 PL1984150 T3 PL 1984150T3 PL 07704331 T PL07704331 T PL 07704331T PL 07704331 T PL07704331 T PL 07704331T PL 1984150 T3 PL1984150 T3 PL 1984150T3
Authority
PL
Poland
Prior art keywords
robotic system
manipulator arm
cylindrical coordinate
medical robotic
coordinate type
Prior art date
Application number
PL07704331T
Other languages
English (en)
Inventor
Emilio Ruiz Morales
Original Assignee
The European Atomic Energy Community (Euratom), Represented By The European Commission
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=36636409&utm_source=google_patent&utm_medium=platform_link&utm_campaign=public_patent_search&patent=PL1984150(T3) "Global patent litigation dataset” by Darts-ip is licensed under a Creative Commons Attribution 4.0 International License.
Application filed by The European Atomic Energy Community (Euratom), Represented By The European Commission filed Critical The European Atomic Energy Community (Euratom), Represented By The European Commission
Publication of PL1984150T3 publication Critical patent/PL1984150T3/pl

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
    • B25J9/041—Cylindrical coordinate type
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B2034/305—Details of wrist mechanisms at distal ends of robotic arms
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/06—Measuring instruments not otherwise provided for
    • A61B2090/064—Measuring instruments not otherwise provided for for measuring force, pressure or mechanical tension
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B34/37—Leader-follower robots
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A61B34/71—Manipulators operated by drive cable mechanisms
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A61B34/77—Manipulators with motion or force scaling
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/36—Image-producing devices or illumination devices not otherwise provided for
    • A61B90/361—Image-producing devices, e.g. surgical cameras

Landscapes

  • Engineering & Computer Science (AREA)
  • Health & Medical Sciences (AREA)
  • Surgery (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Robotics (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Biomedical Technology (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
PL07704331T 2006-02-03 2007-02-02 Zrobotyzowany system medyczny z ramieniem manipulatora typu współrzędnych cylindrycznych PL1984150T3 (pl)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
EP06101250A EP1815949A1 (en) 2006-02-03 2006-02-03 Medical robotic system with manipulator arm of the cylindrical coordinate type
EP07704331.3A EP1984150B1 (en) 2006-02-03 2007-02-02 Medical robotic system with manipulator arm of the cylindrical coordinate type
PCT/EP2007/051044 WO2007088206A2 (en) 2006-02-03 2007-02-02 Medical robotic system with manipulator arm of the cylindrical coordinate type

Publications (1)

Publication Number Publication Date
PL1984150T3 true PL1984150T3 (pl) 2018-12-31

Family

ID=36636409

Family Applications (1)

Application Number Title Priority Date Filing Date
PL07704331T PL1984150T3 (pl) 2006-02-03 2007-02-02 Zrobotyzowany system medyczny z ramieniem manipulatora typu współrzędnych cylindrycznych

Country Status (15)

Country Link
US (1) US9358682B2 (pl)
EP (2) EP1815949A1 (pl)
JP (1) JP5148512B2 (pl)
KR (1) KR101306215B1 (pl)
CN (1) CN101421080B (pl)
BR (1) BRPI0707438B8 (pl)
CA (1) CA2635135C (pl)
CY (1) CY1120704T1 (pl)
DK (1) DK1984150T3 (pl)
ES (1) ES2689093T3 (pl)
MX (1) MX2008010057A (pl)
PL (1) PL1984150T3 (pl)
PT (1) PT1984150T (pl)
RU (1) RU2412799C2 (pl)
WO (1) WO2007088206A2 (pl)

Families Citing this family (351)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US8944070B2 (en) 1999-04-07 2015-02-03 Intuitive Surgical Operations, Inc. Non-force reflecting method for providing tool force information to a user of a telesurgical system
US7960935B2 (en) 2003-07-08 2011-06-14 The Board Of Regents Of The University Of Nebraska Robotic devices with agent delivery components and related methods
US9789608B2 (en) 2006-06-29 2017-10-17 Intuitive Surgical Operations, Inc. Synthetic representation of a surgical robot
US8971597B2 (en) * 2005-05-16 2015-03-03 Intuitive Surgical Operations, Inc. Efficient vision and kinematic data fusion for robotic surgical instruments and other applications
US9492240B2 (en) 2009-06-16 2016-11-15 Intuitive Surgical Operations, Inc. Virtual measurement tool for minimally invasive surgery
US9549663B2 (en) 2006-06-13 2017-01-24 Intuitive Surgical Operations, Inc. Teleoperated surgical retractor system
US8679096B2 (en) 2007-06-21 2014-03-25 Board Of Regents Of The University Of Nebraska Multifunctional operational component for robotic devices
US9579088B2 (en) 2007-02-20 2017-02-28 Board Of Regents Of The University Of Nebraska Methods, systems, and devices for surgical visualization and device manipulation
CA2655964C (en) 2006-06-22 2014-10-28 Board Of Regents Of The University Of Nebraska Magnetically coupleable robotic devices and related methods
US12357400B2 (en) 2006-06-29 2025-07-15 Intuitive Surgical Operations, Inc. Synthetic representation of a surgical robot
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
US20090192523A1 (en) 2006-06-29 2009-07-30 Intuitive Surgical, Inc. Synthetic representation of a surgical instrument
US10008017B2 (en) 2006-06-29 2018-06-26 Intuitive Surgical Operations, Inc. Rendering tool information as graphic overlays on displayed images of tools
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
JP2008100292A (ja) * 2006-10-17 2008-05-01 Toshiba Mach Co Ltd ロボットシステム
EP1915963A1 (en) 2006-10-25 2008-04-30 The European Atomic Energy Community (EURATOM), represented by the European Commission Force estimation for a minimally invasive robotic surgery system
US8313330B2 (en) * 2006-11-16 2012-11-20 Immersion Corporation Systems and methods for medical tool auto-capture
US8233963B2 (en) * 2007-02-19 2012-07-31 Medtronic Navigation, Inc. Automatic identification of tracked surgical devices using an electromagnetic localization system
US9084623B2 (en) 2009-08-15 2015-07-21 Intuitive Surgical Operations, Inc. Controller assisted reconfiguration of an articulated instrument during movement into and out of an entry guide
US9469034B2 (en) 2007-06-13 2016-10-18 Intuitive Surgical Operations, Inc. Method and system for switching modes of a robotic system
US8620473B2 (en) 2007-06-13 2013-12-31 Intuitive Surgical Operations, Inc. Medical robotic system with coupled control modes
US9089256B2 (en) 2008-06-27 2015-07-28 Intuitive Surgical Operations, Inc. Medical robotic system providing an auxiliary view including range of motion limitations for articulatable instruments extending out of a distal end of an entry guide
US9138129B2 (en) 2007-06-13 2015-09-22 Intuitive Surgical Operations, Inc. Method and system for moving a plurality of articulated instruments in tandem back towards an entry guide
EP2170564A4 (en) 2007-07-12 2015-10-07 Univ Nebraska ACTUATING PROCESSES AND SYSTEMS IN ROBOTIC EQUIPMENT
US20090076536A1 (en) 2007-08-15 2009-03-19 Board Of Regents Of The University Of Nebraska Medical inflation, attachment, and delivery devices and related methods
JP5475662B2 (ja) 2007-08-15 2014-04-16 ボード オブ リージェンツ オブ ザ ユニバーシティ オブ ネブラスカ モジュール式およびセグメント化医療装置ならびに関連するシステム
US8176808B2 (en) * 2007-09-13 2012-05-15 Foster-Miller, Inc. Robot arm assembly
GB2454017A (en) * 2007-10-26 2009-04-29 Prosurgics Ltd A control assembly
JP5028219B2 (ja) * 2007-10-30 2012-09-19 オリンパスメディカルシステムズ株式会社 マニピュレータ装置および医療機器システム
US10259607B2 (en) 2008-03-04 2019-04-16 Vanrx Pharmasystems Inc. Aseptic robotic filling system and method
US9895813B2 (en) * 2008-03-31 2018-02-20 Intuitive Surgical Operations, Inc. Force and torque sensing in a surgical robot setup arm
US8864652B2 (en) 2008-06-27 2014-10-21 Intuitive Surgical Operations, Inc. Medical robotic system providing computer generated auxiliary views of a camera instrument for controlling the positioning and orienting of its tip
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
US7875039B2 (en) * 2008-06-30 2011-01-25 Eigen, Inc. Support assembly for a tracking assembly and mounted transrectal ultrasound probe
US8332072B1 (en) 2008-08-22 2012-12-11 Titan Medical Inc. Robotic hand controller
KR100944412B1 (ko) * 2008-10-13 2010-02-25 (주)미래컴퍼니 수술용 슬레이브 로봇
EP2378992B1 (en) * 2008-12-23 2018-02-21 Mako Surgical Corp. Transmission with first and second transmission elements
US8830224B2 (en) 2008-12-31 2014-09-09 Intuitive Surgical Operations, Inc. Efficient 3-D telestration for local robotic proctoring
DE102009007026A1 (de) * 2009-02-02 2010-08-05 Kuka Roboter Gmbh Steuerung und Steuerungsverfahren für einen Manipulator
KR101038417B1 (ko) * 2009-02-11 2011-06-01 주식회사 이턴 수술 로봇 시스템 및 그 제어 방법
US8924009B2 (en) * 2009-03-11 2014-12-30 The Board Of Trustees Of The Leland Stanford Junior University Haptic device for telerobotic surgery
US12266040B2 (en) 2009-03-31 2025-04-01 Intuitive Surgical Operations, Inc. Rendering tool information as graphic overlays on displayed images of tools
US8364314B2 (en) * 2009-04-30 2013-01-29 GM Global Technology Operations LLC Method and apparatus for automatic control of a humanoid robot
US9138207B2 (en) 2009-05-19 2015-09-22 Teleflex Medical Incorporated Methods and devices for laparoscopic surgery
ES2388029B1 (es) * 2009-05-22 2013-08-13 Universitat Politècnica De Catalunya Sistema robótico para cirugia laparoscópica.
US9155592B2 (en) * 2009-06-16 2015-10-13 Intuitive Surgical Operations, Inc. Virtual measurement tool for minimally invasive surgery
US9549744B2 (en) 2009-06-16 2017-01-24 Regents Of The University Of Minnesota Spinal probe with tactile force feedback and pedicle breach prediction
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
US8918211B2 (en) 2010-02-12 2014-12-23 Intuitive Surgical Operations, Inc. Medical robotic system providing sensory feedback indicating a difference between a commanded state and a preferred pose of an articulated instrument
JP5370039B2 (ja) * 2009-09-18 2013-12-18 株式会社デンソーウェーブ ロボットシステム
US8551115B2 (en) * 2009-09-23 2013-10-08 Intuitive Surgical Operations, Inc. Curved cannula instrument
US8623028B2 (en) * 2009-09-23 2014-01-07 Intuitive Surgical Operations, Inc. Surgical port feature
US20110071541A1 (en) 2009-09-23 2011-03-24 Intuitive Surgical, Inc. Curved cannula
US8465476B2 (en) 2009-09-23 2013-06-18 Intuitive Surgical Operations, Inc. Cannula mounting fixture
US8888789B2 (en) 2009-09-23 2014-11-18 Intuitive Surgical Operations, Inc. Curved cannula surgical system control
CN101708129B (zh) * 2009-11-04 2012-05-09 温州医学院 消化道内窥镜介入治疗遥控操作装置
US8521331B2 (en) * 2009-11-13 2013-08-27 Intuitive Surgical Operations, Inc. Patient-side surgeon interface for a minimally invasive, teleoperated surgical instrument
US8996173B2 (en) 2010-09-21 2015-03-31 Intuitive Surgical Operations, Inc. Method and apparatus for hand gesture control in a minimally invasive surgical system
US8935003B2 (en) 2010-09-21 2015-01-13 Intuitive Surgical Operations Method and system for hand presence detection in a minimally invasive surgical system
CN101700184B (zh) * 2009-11-26 2011-01-12 北京天智航技术有限公司 骨科机器人导航装置及定位系统
WO2011075693A1 (en) 2009-12-17 2011-06-23 Board Of Regents Of The University Of Nebraska Modular and cooperative medical devices and related systems and methods
WO2011089565A1 (en) 2010-01-20 2011-07-28 EON Surgical Ltd. System of deploying an elongate unit in a body cavity
US8721539B2 (en) 2010-01-20 2014-05-13 EON Surgical Ltd. Rapid laparoscopy exchange system and method of use thereof
JP5571432B2 (ja) * 2010-03-30 2014-08-13 カール シュトルツ ゲゼルシャフト ミット ベシュレンクテル ハフツング ウント コンパニー コマンディートゲゼルシャフト 医療用ロボットシステム
IT1401669B1 (it) 2010-04-07 2013-08-02 Sofar Spa Sistema di chirurgia robotizzata con controllo perfezionato.
US8746252B2 (en) 2010-05-14 2014-06-10 Intuitive Surgical Operations, Inc. Surgical system sterile drape
CN101889900B (zh) * 2010-07-12 2012-04-11 天津大学 一种辅助微创外科手术的主从一体式机械臂
KR20180025987A (ko) 2010-07-28 2018-03-09 메드로보틱스 코포레이션 서지컬 포지셔닝과 서포트 시스템
CA2804176A1 (en) 2010-08-06 2013-02-05 Board Of Regents Of The University Of Nebraska Methods and systems for handling or delivering materials for natural orifice surgery
CN102686366B (zh) * 2010-08-31 2015-02-25 松下电器产业株式会社 主从机器人的控制装置及主从机器人的控制装置的控制方法
WO2012037257A2 (en) * 2010-09-14 2012-03-22 The Johns Hopkins University Robotic system to augment endoscopes
CA2811730C (en) 2010-09-19 2017-12-05 EON Surgical Ltd. Micro laparoscopy devices and deployments thereof
EP2622594B1 (en) 2010-10-01 2018-08-22 Applied Medical Resources Corporation Portable laparoscopic trainer
JP5711380B2 (ja) 2010-10-22 2015-04-30 メドロボティクス コーポレイション 多関節のロボティックプローブ
WO2012078309A2 (en) 2010-11-11 2012-06-14 Medrobotics Corporation Introduction devices for highly articulated robotic probes and methods of production and use of such probes
US8736212B2 (en) * 2010-12-16 2014-05-27 St. Jude Medical, Atrial Fibrillation Division, Inc. System and method of automatic detection and prevention of motor runaway
US9730717B2 (en) * 2011-02-03 2017-08-15 Karl Storz Gmbh & Co. Kg Medical manipulator system
US9990856B2 (en) * 2011-02-08 2018-06-05 The Trustees Of The University Of Pennsylvania Systems and methods for providing vibration feedback in robotic systems
US9060781B2 (en) 2011-06-10 2015-06-23 Board Of Regents Of The University Of Nebraska Methods, systems, and devices relating to surgical end effectors
US9089353B2 (en) 2011-07-11 2015-07-28 Board Of Regents Of The University Of Nebraska Robotic surgical devices, systems, and related methods
IN2014CN02450A (pl) 2011-09-13 2015-09-25 Medrobotics Corp
CN102293626B (zh) * 2011-09-24 2013-04-24 天津博朗科技发展有限公司 内窥镜夹持机械手
JP2013071209A (ja) * 2011-09-28 2013-04-22 Denso Wave Inc ロボット
JP6502848B2 (ja) 2011-10-03 2019-04-17 ボード オブ リージェンツ オブ ザ ユニバーシティ オブ ネブラスカ モジュール式手術用ロボットシステム
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
US20130303944A1 (en) 2012-05-14 2013-11-14 Intuitive Surgical Operations, Inc. Off-axis electromagnetic sensor
US9452276B2 (en) 2011-10-14 2016-09-27 Intuitive Surgical Operations, Inc. Catheter with removable vision probe
AU2012325987B2 (en) 2011-10-21 2017-02-02 Applied Medical Resources Corporation Simulated tissue structure for surgical training
ITTO20110994A1 (it) * 2011-10-31 2013-05-01 Comau Spa Metodo per il controllo di almeno due robot aventi rispettivi spazi di lavoro includenti almeno una regione in comune
CA2853431A1 (en) 2011-11-11 2013-05-16 Lumenis Ltd. Systems and methods for facilitating robotic surgical laser procedures
CA2859967A1 (en) 2011-12-20 2013-06-27 Applied Medical Resources Corporation Advanced surgical simulation
RU2479264C1 (ru) * 2011-12-20 2013-04-20 Юрий Иванович Русанов Устройство выдвижных элементов зажима и его позиционное расположение внутри сферического корпуса многофункциональной диагностико-хирургической робототехнической системы с возможностью информационно-компьютерного управления им. ю.и. русанова
RU2484761C1 (ru) * 2011-12-20 2013-06-20 Юрий Иванович Русанов Устройство горизонтального разворота функционального элемента узи выдвижной системы сферического корпуса многофункциональной диагностико-хирургической робототехнической системы с возможностью информационно-компьютерного управления им. ю.и. русанова
RU2481068C1 (ru) * 2011-12-20 2013-05-10 Юрий Иванович Русанов Устройство подъема диагностических и хирургических элементов путем разворота в многофункциональной робототехнической системе операционного стола с возможностью информационно-компьютерного управления им. ю.и. русанова
US9364955B2 (en) 2011-12-21 2016-06-14 Medrobotics Corporation Stabilizing apparatus for highly articulated probes with link arrangement, methods of formation thereof, and methods of use thereof
KR101278679B1 (ko) * 2011-12-27 2013-06-25 전자부품연구원 다지점 햅틱 센싱 장치 및 이를 포함하는 시스템
WO2013103210A1 (ko) * 2012-01-06 2013-07-11 Lee Chun-Woo 매니퓰레이터 및 이를 구비한 로봇
US20140058205A1 (en) 2012-01-10 2014-02-27 Board Of Regents Of The University Of Nebraska Methods, Systems, and Devices for Surgical Access and Insertion
EP2819619B1 (en) 2012-02-29 2019-01-16 ValCare, Inc. Percutaneous annuloplasty system with anterior-posterior adjustment
CN102580883A (zh) * 2012-03-28 2012-07-18 广西大学 一种两自由度并联喷涂机器人
US9254234B2 (en) * 2012-04-11 2016-02-09 University of Pittsburgh—of the Commonwealth System of Higher Education Robotic strong arm
RU2484805C1 (ru) * 2012-04-13 2013-06-20 Владимир Александрович Казинов Интегральная система операционного зала
EP4357083A3 (en) 2012-05-01 2024-08-21 Board of Regents of the University of Nebraska Single site robotic device and related systems and methods
JP6262216B2 (ja) * 2012-06-01 2018-01-17 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 零空間を使用して操作アーム間の衝突を回避するためのシステム及び方法
US10080563B2 (en) * 2012-06-01 2018-09-25 Covidien Lp Loading unit detection assembly and surgical device for use therewith
KR102849844B1 (ko) * 2012-06-01 2025-08-26 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 멀티­포트 수술 로봇 시스템 구조
KR102184969B1 (ko) 2012-06-01 2020-12-01 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 수술 시스템용 기구 캐리지 어셈블리
US8857567B1 (en) * 2012-06-14 2014-10-14 Timothy James Raymond Self-contained powered jib boom and optional work platform attachment for mobile cranes
JP6053342B2 (ja) * 2012-06-15 2016-12-27 キヤノン株式会社 医療用マニピュレータおよび、該医療用マニピュレータを備えた医療用画像撮影システム
EP4234185A3 (en) 2012-06-22 2023-09-20 Board of Regents of the University of Nebraska Local control robotic surgical devices
AU2013296222B2 (en) 2012-08-03 2017-03-16 Applied Medical Resources Corporation Simulated stapling and energy based ligation for surgical training
CA2880622C (en) 2012-08-08 2021-01-12 Board Of Regents Of The University Of Nebraska Robotic surgical devices, systems and related methods
US12295680B2 (en) 2012-08-08 2025-05-13 Board Of Regents Of The University Of Nebraska Robotic surgical devices, systems and related methods
US9770305B2 (en) 2012-08-08 2017-09-26 Board Of Regents Of The University Of Nebraska Robotic surgical devices, systems, and related methods
US9675380B2 (en) 2012-08-09 2017-06-13 Medrobotics Corporation Surgical tool positioning system
JP6111562B2 (ja) * 2012-08-31 2017-04-12 セイコーエプソン株式会社 ロボット
US10492876B2 (en) 2012-09-17 2019-12-03 Omniguide, Inc. Devices and methods for laser surgery
CA2885433C (en) 2012-09-26 2023-04-04 Applied Medical Resources Corporation Surgical training model for laparoscopic procedures
EP2901436B1 (en) 2012-09-27 2019-02-27 Applied Medical Resources Corporation Surgical training model for laparoscopic procedures
US10679520B2 (en) 2012-09-27 2020-06-09 Applied Medical Resources Corporation Surgical training model for laparoscopic procedures
JP6245531B2 (ja) 2012-09-27 2017-12-13 アプライド メディカル リソーシーズ コーポレイション 腹腔鏡下手技用の外科用訓練モデル
WO2014052868A1 (en) 2012-09-28 2014-04-03 Applied Medical Resources Corporation Surgical training model for laparoscopic procedures
KR102104985B1 (ko) 2012-09-28 2020-04-27 어플라이드 메디컬 리소시스 코포레이션 경혈관 복강경 수술들을 위한 수술 트레이닝 모델
US20140148673A1 (en) 2012-11-28 2014-05-29 Hansen Medical, Inc. Method of anchoring pullwire directly articulatable region in catheter
EP2925250B1 (en) 2012-11-30 2017-07-26 Olympus Corporation Operation support system
JP6077297B2 (ja) 2012-12-25 2017-02-08 川崎重工業株式会社 手術ロボット
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
EP3660816B1 (en) 2013-03-01 2021-10-13 Applied Medical Resources Corporation Advanced surgical simulation constructions and methods
CA2906672C (en) 2013-03-14 2022-03-15 Board Of Regents Of The University Of Nebraska Methods, systems, and devices relating to force control surgical systems
CA2905948C (en) 2013-03-14 2022-01-11 Board Of Regents Of The University Of Nebraska Methods, systems, and devices relating to robotic surgical devices, end effectors, and controllers
KR102061727B1 (ko) 2013-03-15 2020-01-02 스트리커 코포레이션 수술 로봇 조작기의 엔드 이펙터
EP4628042A2 (en) 2013-03-15 2025-10-08 Virtual Incision Corporation Robotic surgical devices and systems
EP2997562B1 (en) 2013-05-15 2019-10-30 Applied Medical Resources Corporation Hernia model
CN105228539B (zh) 2013-05-22 2018-11-27 柯惠Lp公司 使用端口组件控制手术器械的方法以及装置
WO2014199413A1 (ja) 2013-06-13 2014-12-18 テルモ株式会社 医療用マニピュレータおよびその制御方法
EP3011550B1 (en) 2013-06-18 2018-01-03 Applied Medical Resources Corporation Gallbladder model
RU2524334C1 (ru) * 2013-06-26 2014-07-27 Юрий Иванович Русанов Устройство потолочного варианта сферической диагностико-хирургической и реанимационной робототехнической системы с возможностью информационно-компьютерного управления ю.и. русанова
RU2524335C1 (ru) * 2013-06-26 2014-07-27 Юрий Иванович Русанов Устройство напольного варианта сферической диагностико-хирургической и реанимационной робототехнической системы с возможностью информационно-компьютерного управления ю.и. русанова
RU2524336C1 (ru) * 2013-06-26 2014-07-27 Юрий Иванович Русанов Устройство продольного смещения сферической диагностико-хирургической и реанимационной робототехнической системы с возможностью информационно-компьютерного управления ю.и. русанова
RU2524338C1 (ru) * 2013-06-26 2014-07-27 Юрий Иванович Русанов Устройство напольного варианта двойной сферической диагностико-хирургической и реанимационной робототехнической системы с возможностью информационно-компьютерного управления ю.и. русанова
RU2524014C1 (ru) * 2013-06-26 2014-07-27 Юрий Иванович Русанов Устройство настенного варианта подъема и разворота и продольного смещения сферической диагностико-хирургической и реанимационной робототехнической системы с возможностью информационно-компьютерного управления ю.и. русанова
RU2524339C1 (ru) * 2013-06-26 2014-07-27 Юрий Иванович Русанов Устройство потолочного варианта двойной сферической диагностико-хирургической и реанимационной робототехнической системы с возможностью информационно-компьютерного управления ю.и. русанова
CA2918531A1 (en) 2013-07-17 2015-01-22 Board Of Regents Of The University Of Nebraska Robotic surgical devices, systems and related methods
US10198966B2 (en) 2013-07-24 2019-02-05 Applied Medical Resources Corporation Advanced first entry model for surgical simulation
JP6517201B2 (ja) 2013-07-24 2019-05-22 アプライド メディカル リソーシーズ コーポレイション ファーストエントリーモデル
CN109247987B (zh) 2013-08-15 2021-07-23 直观外科手术操作公司 预加载外科手术器械接口
US9283048B2 (en) * 2013-10-04 2016-03-15 KB Medical SA Apparatus and systems for precise guidance of surgical tools
KR20150047076A (ko) * 2013-10-22 2015-05-04 고려대학교 산학협력단 토크 프리 링키지 유니트
WO2015060626A1 (ko) * 2013-10-22 2015-04-30 고려대학교 산학협력단 다자유도 토크 프리 링키지 유니트
WO2015060629A1 (ko) * 2013-10-22 2015-04-30 고려대학교 산학협력단 토크 프리 링키지 유니트
CN111166274B (zh) 2013-10-24 2025-01-28 奥瑞斯健康公司 机器人辅助腔内外科手术系统及相关方法
CN103737587B (zh) * 2014-01-23 2016-07-06 昆山威创精密机械有限公司 智能五轴机械手
WO2015118466A1 (en) * 2014-02-04 2015-08-13 Koninklijke Philips N.V. Robot angular setup using current from joints
US10483881B2 (en) * 2014-02-19 2019-11-19 Intuitive Surgical Operations, Inc. Systems and methods for motor torque compensation
US10285764B2 (en) 2014-02-20 2019-05-14 Intuitive Surgical Operations, Inc. Limited movement of a surgical mounting platform controlled by manual motion of robotic arms
CN103802095B (zh) * 2014-02-26 2016-03-16 温州职业技术学院 四自由度伺服机械手
GB2523831B (en) * 2014-03-07 2020-09-30 Cmr Surgical Ltd Surgical arm
JP6486380B2 (ja) * 2014-03-17 2019-03-20 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 手術用セットアップ構造の劣駆動ジョイントの運動を制御する方法
WO2015142798A1 (en) 2014-03-17 2015-09-24 Intuitive Surgical Operations, Inc. Methods and devices for tele-surgical table registration
US9918800B2 (en) 2014-03-17 2018-03-20 Intuitive Surgical Operations, Inc. Surgical system with obstacle indication system
US10034717B2 (en) 2014-03-17 2018-07-31 Intuitive Surgical Operations, Inc. System and method for breakaway clutching in an articulated arm
KR102561141B1 (ko) 2014-03-17 2023-07-31 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 진동 감소 장치를 가진 바퀴부착 카트, 그리고 관련 시스템 및 방법
CN106102632B (zh) * 2014-03-17 2019-06-14 直观外科手术操作公司 在程序中重启期间修复器械控制输入方位/定向
WO2015142947A1 (en) 2014-03-17 2015-09-24 Intuitive Surgical Operations, Inc. System and method for aligning with a reference target
DE102014205159A1 (de) * 2014-03-19 2015-09-24 Richard Wolf Gmbh Robotersystem
EP2923669B1 (en) 2014-03-24 2017-06-28 Hansen Medical, Inc. Systems and devices for catheter driving instinctiveness
KR102438168B1 (ko) 2014-03-26 2022-08-31 어플라이드 메디컬 리소시스 코포레이션 시뮬레이션된 절개가능 조직
EP3142593B1 (en) * 2014-05-13 2022-08-10 Covidien LP Surgical robotic arm support systems and methods of use
CN107148250B (zh) 2014-08-15 2020-07-24 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
EP4477143A3 (en) * 2014-09-05 2025-03-19 PROCEPT BioRobotics Corporation Physician controlled tissue resection integrated with treatment mapping of target organ images
EP3868322B1 (en) 2014-09-12 2024-11-20 Board of Regents of the University of Nebraska Quick-release effectors and related systems
US10321964B2 (en) 2014-09-15 2019-06-18 Covidien Lp Robotically controlling surgical assemblies
US9737371B2 (en) 2014-09-30 2017-08-22 Auris Surgical Robotics, Inc. Configurable robotic surgical system with virtual rail and flexible endoscope
KR102203542B1 (ko) 2014-10-08 2021-01-19 큐렉소 주식회사 로봇
EP3205459A4 (en) * 2014-10-09 2018-06-27 Sony Corporation Information-processing device, information-processing method, and program
US10314463B2 (en) 2014-10-24 2019-06-11 Auris Health, Inc. Automated endoscope calibration
WO2016069650A1 (en) 2014-10-27 2016-05-06 Intuitive Surgical Operations, Inc. System and method for integrated surgical table icons
EP3212150B1 (en) 2014-10-27 2021-08-11 Intuitive Surgical Operations, Inc. System for registering to a surgical table
KR102757751B1 (ko) 2014-10-27 2025-01-21 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 통합 수술 테이블을 위한 시스템 및 방법
CN107072728B (zh) 2014-10-27 2020-07-17 直观外科手术操作公司 用于在反应运动期间监测控制点的系统和方法
CN110584789B (zh) 2014-10-27 2022-09-20 直观外科手术操作公司 用于器械干扰补偿的系统和方法
KR102623373B1 (ko) 2014-10-27 2024-01-11 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 통합 수술 테이블 운동을 위한 시스템 및 방법
CN107072727B (zh) 2014-10-27 2020-01-24 直观外科手术操作公司 具有主动制动器释放控制装置的医疗装置
US10603135B2 (en) * 2014-10-30 2020-03-31 Intuitive Surgical Operations, Inc. System and method for an articulated arm based tool guide
CA2967593C (en) 2014-11-11 2024-02-27 Board Of Regents Of The University Of Nebraska Robotic device with compact joint design and related systems and methods
KR102718882B1 (ko) 2014-11-13 2024-10-17 어플라이드 메디컬 리소시스 코포레이션 시뮬레이션된 조직 모델들 및 방법들
DE102014117408A1 (de) * 2014-11-27 2016-06-02 avateramedical GmBH Vorrichtung zur robotergestützten Chirurgie
CN104552239A (zh) * 2014-12-31 2015-04-29 东莞市乐佰特机器人有限公司 四轴移栽机械手
FR3032346B1 (fr) * 2015-02-05 2021-10-15 Univ Pierre Et Marie Curie Paris 6 Procede d'assistance a la manipulation d'un instrument
EP4620662A2 (en) 2015-02-19 2025-09-24 Applied Medical Resources Corporation Simulated tissue structures and methods
WO2016137612A1 (en) * 2015-02-26 2016-09-01 Covidien Lp Robotically controlling remote center of motion with software and guide tube
JP5987940B2 (ja) 2015-03-05 2016-09-07 ソニー株式会社 モータ、アクチュエータ及び医療用支持アーム装置
CN113040921A (zh) * 2015-03-10 2021-06-29 柯惠Lp公司 测量机器人手术系统的连接器部件的健康状况
EP4647220A2 (en) * 2015-03-17 2025-11-12 Intuitive Surgical Operations, Inc. System and method for providing feedback during manual joint positioning
WO2016164824A1 (en) 2015-04-09 2016-10-13 Auris Surgical Robotics, Inc. Surgical system with configurable rail-mounted mechanical arms
CN113491582A (zh) 2015-05-01 2021-10-12 提坦医疗公司 器械碰撞检测与反馈
WO2016183054A1 (en) 2015-05-11 2016-11-17 Covidien Lp Coupling instrument drive unit and robotic surgical instrument
EP3253315B1 (en) 2015-05-14 2019-01-02 Applied Medical Resources Corporation Synthetic tissue structures for electrosurgical training and simulation
US9622827B2 (en) 2015-05-15 2017-04-18 Auris Surgical Robotics, Inc. Surgical robotics system
WO2016196238A1 (en) * 2015-06-03 2016-12-08 Covidien Lp Offset instrument drive unit
EP4057260A1 (en) 2015-06-09 2022-09-14 Applied Medical Resources Corporation Hysterectomy model
DE102015109371A1 (de) * 2015-06-12 2016-12-15 avateramedical GmBH Vorrichtung und Verfahren zur robotergestützten Chirurgie
DE102015109368A1 (de) * 2015-06-12 2016-12-15 avateramedical GmBH Vorrichtung und Verfahren zur robotergestützten Chirurgie sowie Positionierhilfseinheit
CN104887325A (zh) * 2015-06-17 2015-09-09 冯晶晶 吊顶式镜头支架
CN104921689B (zh) * 2015-06-17 2016-09-07 冯晶晶 全气动镜头支架的制造和使用方法
CN104921690B (zh) * 2015-06-17 2016-12-14 李代碧 卡接式镜头支架的制造方法
CN104921688B (zh) * 2015-06-17 2016-08-24 冯晶晶 全液动镜头支架
JP6771494B2 (ja) 2015-06-19 2020-10-21 コヴィディエン リミテッド パートナーシップ 双方向連結部を備えたロボット外科用機器の制御法
JP7009355B2 (ja) 2015-07-16 2022-01-25 アプライド メディカル リソーシーズ コーポレイション 模擬切開可能組織
CA3286214A1 (en) * 2015-07-17 2025-11-29 Deka Products Lp Robotic surgery system, method, and apparatus
KR102646090B1 (ko) 2015-07-22 2024-03-12 어플라이드 메디컬 리소시스 코포레이션 충수절제술 모델
CN114027986B (zh) 2015-08-03 2024-06-14 内布拉斯加大学董事会 机器人手术装置系统及相关方法
CN105196539A (zh) * 2015-08-19 2015-12-30 深圳市克洛普斯科技有限公司 基于选择顺应性装配机械手臂scara的fdm 3d打印机
US10034716B2 (en) * 2015-09-14 2018-07-31 Globus Medical, Inc. Surgical robotic systems and methods thereof
KR102649261B1 (ko) 2015-10-02 2024-03-20 어플라이드 메디컬 리소시스 코포레이션 자궁 절제술 모델
ITUB20155057A1 (it) 2015-10-16 2017-04-16 Medical Microinstruments S R L Assieme robotico di chirurgia
DK3368421T3 (da) * 2015-10-28 2021-06-07 Vanrx Pharmasystems Inc Aseptisk fyldningssystem og -fremgangsmåde
ES2955662T3 (es) 2015-11-20 2023-12-05 Applied Med Resources Tejido diseccionable simulado
US10143526B2 (en) 2015-11-30 2018-12-04 Auris Health, Inc. Robot-assisted driving systems and methods
GB201521803D0 (en) * 2015-12-10 2016-01-27 Cambridge Medical Robotics Ltd Surgical instrument articulation
CN105662314B (zh) * 2015-12-30 2018-08-28 天津市医疗器械质量监督检验中心 内窥镜检测系统
CN108472081B (zh) * 2016-01-07 2024-04-05 直观外科手术操作公司 伸缩式插管臂
WO2017136429A1 (en) * 2016-02-01 2017-08-10 AM Networks LLC Desktop robotic arm with interchangeable end effectors
EP3419543B1 (en) 2016-02-26 2023-04-05 Intuitive Surgical Operations, Inc. System for collision avoidance using virtual boundaries
CN107229019A (zh) * 2016-03-23 2017-10-03 南京德朔实业有限公司 电动工具系统
CN110087558B (zh) 2016-04-14 2022-12-23 阿森塞斯(美国)手术公司 包括线性驱动器械辊的机电手术系统
CN105832419A (zh) * 2016-05-06 2016-08-10 济南创泽生物医药科技有限公司 一种微操精准手术机器人
JP6814458B2 (ja) * 2016-05-09 2021-01-20 中村留精密工業株式会社 当接解除装置を備えた工作機械の衝突検出装置
CN114098975A (zh) 2016-05-18 2022-03-01 虚拟切割有限公司 机器人外科装置、系统及相关方法
KR102414405B1 (ko) 2016-06-09 2022-06-30 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 컴퓨터 보조 원격 조작 수술 시스템 및 방법
EP3474763A1 (en) * 2016-06-22 2019-05-01 Koninklijke Philips N.V. Image guidance for a decoupled kinematic control of a remote-center-of-motion
KR102405187B1 (ko) 2016-06-27 2022-06-07 어플라이드 메디컬 리소시스 코포레이션 시뮬레이션된 복벽
CN119405425A (zh) 2016-07-01 2025-02-11 直观外科手术操作公司 计算机辅助的医疗系统和方法
US11890070B2 (en) 2016-07-14 2024-02-06 Intuitive Surgical Operations, Inc. Instrument release
CN107661126B (zh) 2016-07-27 2021-10-12 沃卡尔有限公司 用于经皮手术的输送系统的稳定化及操作
GB201615616D0 (en) 2016-09-14 2016-10-26 Cambridge Medical Robotics Ltd Interfacing a surgical robotic arm and instrument
US10111719B2 (en) * 2016-08-16 2018-10-30 Ethicon Llc Control of the rate of actuation of tool mechanism based on inherent parameters
JP7145845B2 (ja) 2016-08-24 2022-10-03 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 コンピュータ支援遠隔操作手術システム及び方法
CA3035064A1 (en) 2016-08-30 2018-03-08 Board Of Regents Of The University Of Nebraska Robotic device with compact joint design and an additional degree of freedom and related systems and methods
EP4477172A1 (en) * 2016-09-15 2024-12-18 Intuitive Surgical Operations, Inc. Computer-assisted tele-operated surgery systems
US9931025B1 (en) 2016-09-30 2018-04-03 Auris Surgical Robotics, Inc. Automated calibration of endoscopes with pull wires
CN107877488A (zh) * 2016-09-30 2018-04-06 深圳市越疆科技有限公司 消除回程偏差的机器人旋转底座
EP3522814B1 (en) 2016-10-04 2022-05-04 Intuitive Surgical Operations, Inc. Computer-assisted teleoperated surgery systems
CN113558821B (zh) 2016-10-11 2024-08-23 沃卡尔医药有限公司 通过导管输送植入物的装置和方法
EP3528736A4 (en) * 2016-10-18 2020-06-17 Intuitive Surgical Operations Inc. SYSTEMS AND METHODS FOR COMPUTER-ASSISTED TELE-OPERATED SURGERY
DE102016221222A1 (de) * 2016-10-27 2018-05-03 Siemens Healthcare Gmbh Verfahren zum Betrieb eines Kollisionsschutzsystems für eine medizinische Operationseinrichtung, medizinische Operationseinrichtung, Computerprogramm und Datenträger
CN107007892A (zh) * 2016-11-16 2017-08-04 温州医科大学附属眼视光医院 医疗用抽吸机器人
CN115337111B (zh) * 2016-11-22 2025-04-25 内布拉斯加大学董事会 改进的粗定位装置及相关系统和方法
JP7099728B2 (ja) 2016-11-29 2022-07-12 バーチャル インシジョン コーポレイション ユーザの存在検出機能を備えたユーザコントローラ、関連システムおよび方法
US10722319B2 (en) 2016-12-14 2020-07-28 Virtual Incision Corporation Releasable attachment device for coupling to medical devices and related systems and methods
US10244926B2 (en) 2016-12-28 2019-04-02 Auris Health, Inc. Detecting endolumenal buckling of flexible instruments
CN106737823A (zh) * 2016-12-30 2017-05-31 深圳市优必选科技有限公司 关节结构以及机器人
US10183403B2 (en) * 2016-12-30 2019-01-22 UBTECH Robotics Corp. Robot head rotating structure
ES3004046T3 (en) 2017-02-14 2025-03-11 Applied Med Resources Laparoscopic training system
US10847057B2 (en) 2017-02-23 2020-11-24 Applied Medical Resources Corporation Synthetic tissue structures for electrosurgical training and simulation
CN108618871A (zh) 2017-03-17 2018-10-09 沃卡尔有限公司 具有多方向锚部的二尖瓣或三尖瓣修复系统
US11078945B2 (en) * 2017-03-26 2021-08-03 Verb Surgical Inc. Coupler to attach robotic arm to surgical table
WO2018208994A1 (en) 2017-05-12 2018-11-15 Auris Health, Inc. Biopsy apparatus and system
US11839441B2 (en) 2017-05-25 2023-12-12 Covidien Lp Robotic surgical system with automated guidance
CN110650702B (zh) * 2017-05-25 2023-05-05 柯惠Lp公司 机器人手术系统的事件启动的功能选择控件的释放
US10299870B2 (en) 2017-06-28 2019-05-28 Auris Health, Inc. Instrument insertion compensation
US10426559B2 (en) 2017-06-30 2019-10-01 Auris Health, Inc. Systems and methods for medical instrument compression compensation
CN107361849B (zh) 2017-07-31 2023-11-21 成都博恩思医学机器人有限公司 用于操纵执行机构的控制台
EP3687370B1 (en) 2017-09-27 2024-11-20 Virtual Incision Corporation Robotic surgical devices with tracking camera technology and related systems
US10145747B1 (en) 2017-10-10 2018-12-04 Auris Health, Inc. Detection of undesirable forces on a surgical robotic arm
CN107866801A (zh) * 2017-11-28 2018-04-03 国网山东省电力公司龙口市供电公司 一种电力设备检修用机械手装置
CN110831536B (zh) 2017-12-06 2021-09-07 奥瑞斯健康公司 用于针对非命令器械滚转进行校正的系统和方法
KR102473254B1 (ko) 2017-12-08 2022-12-06 아우리스 헬스, 인코포레이티드 지향된 유체 공학
CN109895074B (zh) * 2017-12-08 2021-09-21 中国科学院沈阳自动化研究所 一种直线单元型双臂协作机器人
AU2018384820B2 (en) 2017-12-14 2024-07-04 Auris Health, Inc. System and method for estimating instrument location
US11148297B2 (en) * 2017-12-31 2021-10-19 Asensus Surgical Us, Inc. Force based gesture control of a robotic surgical manipulator
US11013564B2 (en) 2018-01-05 2021-05-25 Board Of Regents Of The University Of Nebraska Single-arm robotic device with compact joint design and related systems and methods
JP6999824B2 (ja) 2018-01-17 2022-01-19 オーリス ヘルス インコーポレイテッド 調節可能なアーム支持体を有する外科用プラットフォーム
GB2570520B8 (en) * 2018-01-30 2023-05-24 Cmr Surgical Ltd Interfacing a surgical robotic arm and instrument
US10765303B2 (en) 2018-02-13 2020-09-08 Auris Health, Inc. System and method for driving medical instrument
US11141232B2 (en) 2018-03-29 2021-10-12 Intuitive Surgical Operations, Inc. Teleoperated surgical instruments
JP7332621B2 (ja) 2018-04-13 2023-08-23 アイシス メディツィンテクニック ゲーエムベーハー 医療ロボット
SG11202010258VA (en) 2018-04-17 2020-11-27 Chengdu Borns Medical Robotics Inc Laparoscope-holding robot system for laparoscopic surgery
RU185415U1 (ru) * 2018-07-05 2018-12-04 Федеральное государственное бюджетное образовательное учреждение высшего образования "Поволжский государственный технологический университет" Устройство для лапароскопических операций
RU187033U1 (ru) * 2018-07-05 2019-02-14 Федеральное государственное бюджетное образовательное учреждение высшего образования "Поволжский государственный технологический университет" Хирургический манипулятор
US12042238B2 (en) 2018-08-02 2024-07-23 Intuitive Surgical Operations, Inc. Computer-assisted tele-operated surgery systems and methods
KR102791307B1 (ko) 2018-08-24 2025-04-09 아우리스 헬스, 인코포레이티드 수동 및 로봇 제어가능 의료 기구
CN110916800B (zh) * 2018-09-20 2021-03-05 上银科技股份有限公司 三轴式运动装置
KR20250130720A (ko) 2018-09-28 2025-09-02 아우리스 헬스, 인코포레이티드 의료 기구를 도킹시키기 위한 시스템 및 방법
WO2020069404A1 (en) 2018-09-28 2020-04-02 Auris Health, Inc. Robotic systems and methods for concomitant endoscopic and percutaneous medical procedures
CN113226202B (zh) 2018-12-28 2024-12-03 奥瑞斯健康公司 用于机器人医疗系统的经皮护套和方法
EP3908171A4 (en) 2019-01-07 2022-09-14 Virtual Incision Corporation Robotically assisted surgical system and related devices and methods
FR3092747A1 (fr) * 2019-02-14 2020-08-21 Sylorus Robotics Installation pour la chirurgie robotique du rachis
US20220151719A1 (en) * 2019-02-18 2022-05-19 Covidien Lp Setup arm pitch joint estimator
WO2020172394A1 (en) 2019-02-22 2020-08-27 Auris Health, Inc. Surgical platform with motorized arms for adjustable arm supports
CN113613612B (zh) 2019-03-08 2022-08-02 奥瑞斯健康公司 用于医疗系统和应用的倾斜机构
US12128566B2 (en) 2019-03-12 2024-10-29 Intuitive Surgical Operations, Inc. Guided tool change
CN110007601B (zh) * 2019-05-06 2022-03-25 广东工业大学 一种双边遥操作系统的控制装置和设备
US10939970B2 (en) * 2019-05-22 2021-03-09 Titan Medical Inc. Robotic surgery system
CN113692253B (zh) 2019-06-11 2024-10-29 沃卡尔医药有限公司 用于递送腱索置换系统的系统和方法
WO2020252200A1 (en) 2019-06-11 2020-12-17 Valcare, Inc. Annuloplasty ring with posterior leaflet for minimally invasive treatment
CN110384561B (zh) * 2019-07-05 2024-07-19 北京万特福医疗器械有限公司 一种无框架定位仪定位支架
GB2585691B (en) 2019-07-11 2024-03-20 Cmr Surgical Ltd Anonymising robotic data
JP7560537B2 (ja) 2019-07-17 2024-10-02 アセンサス・サージカル・ユーエス，インコーポレイテッド ロボットマニピュレータ
US11553973B2 (en) 2019-07-29 2023-01-17 Verb Surgical Inc. Robotic arm having an extendable prismatic link
US20210031368A1 (en) * 2019-08-02 2021-02-04 Dextrous Robotics, Inc. Robotic system for picking and placing objects from and into a constrained space
US11717147B2 (en) 2019-08-15 2023-08-08 Auris Health, Inc. Medical device having multiple bending sections
JP6694625B1 (ja) * 2019-12-05 2020-05-20 株式会社Ａ−Ｔｒａｃｔｉｏｎ 受動関節装置
AU2020404307A1 (en) 2019-12-17 2023-01-05 Chengdu Borns Medical Robotics Inc. Surgical operating instrument and surgical robot
JP7497440B2 (ja) 2019-12-31 2024-06-10 オーリス ヘルス インコーポレイテッド 経皮的アクセスのための位置合わせインターフェース
US11660147B2 (en) 2019-12-31 2023-05-30 Auris Health, Inc. Alignment techniques for percutaneous access
WO2021137072A1 (en) 2019-12-31 2021-07-08 Auris Health, Inc. Anatomical feature identification and targeting
IT202000002548A1 (it) 2020-02-10 2021-08-10 Medical Microinstruments Spa Assieme di chirurgia robotica, arena operatoria e metodo
GB2624133B (en) 2020-02-25 2024-12-25 Cmr Surgical Ltd Controlling movement of a surgical robot arm
CN111407405B (zh) * 2020-03-11 2024-11-08 杭州唯精医疗机器人有限公司 一种用于脑深部电刺激术辅助机器人
WO2021186578A1 (ja) * 2020-03-17 2021-09-23 リバーフィールド株式会社 回転位置検出ユニット
EP4120951A4 (en) 2020-03-19 2024-04-24 Auris Health, Inc. SYSTEMS AND METHODS FOR DYNAMIC ADJUSTMENTS BASED ON LOAD INPUTS FOR ROBOTIC SYSTEMS
US11737663B2 (en) 2020-03-30 2023-08-29 Auris Health, Inc. Target anatomical feature localization
JP2021171875A (ja) * 2020-04-24 2021-11-01 セイコーエプソン株式会社 水平多関節ロボットおよび水平多関節ロボットシステム
CN115697239A (zh) * 2020-06-03 2023-02-03 柯惠Lp公司 外科机器人系统用户界面
CA3186863A1 (en) 2020-07-06 2022-01-13 Virtual Incision Corporation Surgical robot positioning system and related devices and methods
CN111820955B (zh) * 2020-07-27 2021-09-10 南方科技大学 一种便携式咽拭子采集智能装置
CN113967071B (zh) 2020-10-23 2023-09-29 成都博恩思医学机器人有限公司 手术机器人机械臂跟随手术床运动的控制方法及装置
US20240009840A1 (en) * 2020-11-10 2024-01-11 Chongqing Jinshan Medical Robotics Co., Ltd. Surgical robot, and surgical robot system
EP4271456A4 (en) * 2020-12-31 2024-11-27 Auris Health, Inc. Robotic and manual aspiration catheters
KR102499857B1 (ko) * 2021-01-29 2023-02-15 재단법인 한국마이크로의료로봇연구원 마이크로 로봇 제어용 듀얼 하이브리드 전자석 모듈
RU206072U1 (ru) * 2021-03-01 2021-08-18 Общество с ограниченной ответственностью "Импрувити" Манипулятор с двумя руками
WO2022186722A1 (ru) * 2021-03-01 2022-09-09 Общество с ограниченной ответственностью "Импрувити" Манипулятор с двумя руками
IT202100006968A1 (it) * 2021-03-23 2022-09-23 Marangoni Mecc S P A Manipolatore industriale, in particolare per pneumatici o parti di essi
GB202108251D0 (en) * 2021-06-09 2021-07-21 Imp College Innovations Ltd An attachment for us with a device to scan a surface and a device for the same time
US12426962B2 (en) 2021-06-18 2025-09-30 Mazor Robotics Ltd. Robotic surgical system with rigid bed mount
US12257014B2 (en) * 2021-06-22 2025-03-25 Intuitive Surgical Operations, Inc. Devices and methods for crimp interface for cable tension sensor
US11766778B2 (en) * 2021-07-19 2023-09-26 Nsk Ltd. Driving device and method for controlling the same, and parallel link robot and method for controlling the same
US12447317B2 (en) 2022-08-01 2025-10-21 Imperative Care, Inc. Method of priming concentrically stacked interventional devices
US20230047098A1 (en) * 2021-08-12 2023-02-16 Imperative Care, Inc. Multi catheter method of performing a robotic neurovascular procedure
US12440289B2 (en) 2022-08-01 2025-10-14 Imperative Care, Inc. Method of priming an interventional device assembly
US12446979B2 (en) 2022-08-01 2025-10-21 Imperative Care, Inc. Method of performing a multi catheter robotic neurovascular procedure
US12419703B2 (en) 2022-08-01 2025-09-23 Imperative Care, Inc. Robotic drive system for achieving supra-aortic access
CN113925613B (zh) * 2021-09-27 2023-07-07 中山大学 一种腹腔镜手术持镜机器人系统
KR102666829B1 (ko) * 2021-10-29 2024-05-20 경북대학교 산학협력단 잠금나사 삽입 유도장치
WO2023074335A1 (ja) * 2021-10-29 2023-05-04 慶應義塾 制御システム、制御装置、制御方法及びプログラム
US11845184B2 (en) 2022-04-18 2023-12-19 Dextrous Robotics, Inc. System and/or method for grasping objects
US20240041480A1 (en) 2022-08-02 2024-02-08 Imperative Care, Inc. Multi catheter system with integrated fluidics management
CN115957007A (zh) * 2022-09-20 2023-04-14 核动医疗机器人(深圳)有限公司 手术机器人系统
US12397430B2 (en) * 2022-10-04 2025-08-26 Aescape, Inc. Method and system for electromechanical safety for robotic manipulators
US20240180642A1 (en) 2022-12-01 2024-06-06 Imperative Care, Inc. Angled drive table
PL443251A1 (pl) 2022-12-22 2024-06-24 Krystian Dylewski Układ robota
US12440291B2 (en) 2022-12-27 2025-10-14 Conavi Medical Inc. Systems and methods for unpowered release and retraction of robotic tools in a robotic surgical system
US20240341869A1 (en) * 2023-02-19 2024-10-17 Federico Campisano Surgical robotic manipulator providing enhanced dexterity across the surgical workspace
US20240286284A1 (en) * 2023-02-24 2024-08-29 Dexterity, Inc. Robot with articulated or variable length upper arm
WO2024180528A1 (en) * 2023-03-02 2024-09-06 Alcon Inc. Visualization robot with ophthalmic surgery-optimized kinematics
CN118948195A (zh) * 2023-05-15 2024-11-15 瑞龙诺赋(上海)医疗科技有限公司 腹腔镜驱动系统、腹腔镜安装检测方法及手术机器人
WO2024238831A2 (en) 2023-05-17 2024-11-21 Imperative Care, Inc. Fluidics control system for multi catheter stack
KR20250073807A (ko) * 2023-11-20 2025-05-27 재단법인 한국마이크로의료로봇연구원 마이크로로봇 구동용 모바일 장치
CN119970237B (zh) * 2025-04-14 2025-07-29 诺孚泰智能科技(成都)有限公司 一种腹腔镜手术机器人及其控制方法

Family Cites Families (28)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US3935950A (en) * 1973-09-04 1976-02-03 Quality Steel Fabricators, Inc. Industrial robot
EP0114096A1 (en) * 1983-01-13 1984-07-25 Western Electric Company, Incorporated Robotic arm
JPS6384892A (ja) * 1986-09-29 1988-04-15 労働省産業安全研究所長 ロボット制御用安全装置
US4807486A (en) * 1987-11-09 1989-02-28 Gmf Robotics Corporation Three-axes wrist mechanism
JP2839265B2 (ja) * 1988-08-11 1998-12-16 ファナック 株式会社 水平関節形ロボット
US5125789A (en) * 1990-01-02 1992-06-30 Peerless Automation Molded parts removal and transfer robot
JPH0413595A (ja) * 1990-05-01 1992-01-17 Mitsubishi Electric Corp クリーンロボット
US5279309A (en) * 1991-06-13 1994-01-18 International Business Machines Corporation Signaling device and method for monitoring positions in a surgical operation
CA2078295C (en) * 1991-08-05 1995-11-21 John Michael Putman Endoscope stabilizer
US5524180A (en) * 1992-08-10 1996-06-04 Computer Motion, Inc. Automated endoscope system for optimal positioning
US5351675A (en) * 1992-08-14 1994-10-04 The Kendall Company Method and apparatus for preheating an optical instrument prior to use thereof in a medical procedure
US6120433A (en) * 1994-09-01 2000-09-19 Olympus Optical Co., Ltd. Surgical manipulator system
JPH08117238A (ja) 1994-10-25 1996-05-14 Olympus Optical Co Ltd 手術用マニピュレータ
WO1997000649A1 (en) 1995-06-20 1997-01-09 Wan Sing Ng Articulated arm for medical procedures
CN2239238Y (zh) * 1995-09-06 1996-11-06 鱼国盛 框架式万能腹部牵开器
JPH09141589A (ja) * 1995-11-17 1997-06-03 Yaskawa Electric Corp 多関節ロボットの手首機構
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
US6331181B1 (en) * 1998-12-08 2001-12-18 Intuitive Surgical, Inc. Surgical robotic tools, data architecture, and use
EP2362286B1 (en) * 1997-09-19 2015-09-02 Massachusetts Institute Of Technology Robotic apparatus
JP2003527737A (ja) * 1998-07-11 2003-09-16 セミトゥール・インコーポレイテッド マイクロ電子ワークピース取扱い用ロボット
DE69940850D1 (de) * 1998-08-04 2009-06-18 Intuitive Surgical Inc Gelenkvorrichtung zur Positionierung eines Manipulators für Robotik-Chirurgie
DE69929481T2 (de) * 1998-11-23 2006-09-28 Microdexterity Systems Inc., Memphis Chirurgischer Manipulator
US6661571B1 (en) * 1999-09-21 2003-12-09 Olympus Optical Co., Ltd. Surgical microscopic system
US6994708B2 (en) * 2001-04-19 2006-02-07 Intuitive Surgical Robotic tool with monopolar electro-surgical scissors
WO2004014244A2 (en) * 2002-08-13 2004-02-19 Microbotics Corporation Microsurgical robot system
US7046765B2 (en) * 2004-03-31 2006-05-16 Accuray, Inc. Radiosurgery x-ray system with collision avoidance subsystem
US20060047363A1 (en) * 2004-08-31 2006-03-02 Farrelly Philip J Machine vision system for lab workcells

Also Published As

Publication number Publication date
ES2689093T3 (es) 2018-11-08
BRPI0707438B8 (pt) 2019-10-08
DK1984150T3 (en) 2018-10-15
EP1984150A2 (en) 2008-10-29
JP5148512B2 (ja) 2013-02-20
KR101306215B1 (ko) 2013-09-09
BRPI0707438A2 (pt) 2011-05-03
PT1984150T (pt) 2018-10-30
CN101421080A (zh) 2009-04-29
EP1984150B1 (en) 2018-07-04
WO2007088206A3 (en) 2007-09-20
CA2635135C (en) 2014-04-08
RU2412799C2 (ru) 2011-02-27
CY1120704T1 (el) 2019-12-11
WO2007088206A2 (en) 2007-08-09
CN101421080B (zh) 2011-12-21
EP1815949A1 (en) 2007-08-08
US9358682B2 (en) 2016-06-07
JP2009525097A (ja) 2009-07-09
BRPI0707438B1 (pt) 2019-09-24
RU2008135240A (ru) 2010-03-10
MX2008010057A (es) 2008-11-12
US20100204713A1 (en) 2010-08-12
KR20080100211A (ko) 2008-11-14
CA2635135A1 (en) 2007-08-09

Similar Documents

Publication Publication Date Title
PT1984150T (pt) Sistema robótico médico com braço manipulador do tipo de coordenadas cilíndricas
IL201605A0 (en) Methods, devices and systems for automated movements involving medical robots
EP2326254A4 (en) Seven or more degrees of freedom robotic manipulator having at least one redundant joint
GB0811971D0 (en) Robotic arm
EP1933467B8 (en) Autonomous robot
IL221648A (en) Autonomous robot with acoustic sensing
EP1885630A4 (en) CHAIN DRIVEN ROBOT ARM
GB0905207D0 (en) Double sided rack manipulator jaw actuator system
EP1804872A4 (en) MEDICAL EFFECTOR SYSTEM
PT2149180E (pt) Braço robótico montável numa lança
EP1857230A4 (en) JOINT STRUCTURE OF A ROBOT
EP2501281A4 (en) Coordinate mapping system for joint treatment
GB2443062B (en) Robot system
EP2525946A4 (en) ROBOTIC END EFFECTOR SYSTEM AND METHOD
HUE042068T2 (hu) Robotikus kar környezeti paramétert mérõ érzékelõvel
EP1997567A4 (en) ROBOT CLEANING UNDER WATER
IL201595A0 (en) Devices for interfacing between manipulators and surgical tools
EP2462395A4 (en) ROBOTIC REFRIGERATOR AND SYSTEM COMPRISING SAME
TWI346033B (en) High temperature robot end effector
DK2021807T3 (da) Robotsystem med autonomt betjenelige værktøjer
EP2554136A4 (en) One-degree-of-freedom link device, a robot arm using the same and a surgical robot comprising the same
GB0817029D0 (en) Robotic End Effector
GB0607484D0 (en) Monitor support arm
DE502005003478D1 (de) Anthropomorpher medizintechnischer Roboterarm mit Bewegungseinschränkung
EP1743747A4 (en) INDUSTRIAL ROBOT