ATE540634T1 - Laparoskopisches ultraschall-robotersystem für chirurgische zwecke - Google Patents

Laparoskopisches ultraschall-robotersystem für chirurgische zwecke

Info

Publication number
ATE540634T1
ATE540634T1 AT06784595T AT06784595T ATE540634T1 AT E540634 T1 ATE540634 T1 AT E540634T1 AT 06784595 T AT06784595 T AT 06784595T AT 06784595 T AT06784595 T AT 06784595T AT E540634 T1 ATE540634 T1 AT E540634T1
Authority
AT
Austria
Prior art keywords
surgeon
lus
robot system
assist
displayed
Prior art date
Application number
AT06784595T
Other languages
English (en)
Inventor
Christopher Hasser
Russell Taylor
Michael Choti
Josh Leven
Original Assignee
Intuitive Surgical Operations
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 Intuitive Surgical Operations filed Critical Intuitive Surgical Operations
Application granted granted Critical
Publication of ATE540634T1 publication Critical patent/ATE540634T1/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
    • A61B34/37—Master-slave robots
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
    • 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
    • A61B1/313—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 for introducing through surgical openings, e.g. laparoscopes
    • A61B1/3132—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 for introducing through surgical openings, e.g. laparoscopes for laparoscopy
    • 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
    • A61B34/25—User interfaces for surgical systems
    • 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
    • A61B34/70—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
    • A61B34/76—Manipulators having means for providing feel, e.g. force or tactile feedback
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
    • A61B8/12—Diagnosis using ultrasonic, sonic or infrasonic waves in body cavities or body tracts, e.g. by using catheters
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
    • A61B8/42—Details of probe positioning or probe attachment to the patient
    • A61B8/4209—Details of probe positioning or probe attachment to the patient by using holders, e.g. positioning frames
    • A61B8/4218—Details of probe positioning or probe attachment to the patient by using holders, e.g. positioning frames characterised by articulated arms
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
    • A61B8/42—Details of probe positioning or probe attachment to the patient
    • A61B8/4245—Details of probe positioning or probe attachment to the patient involving determining the position of the probe, e.g. with respect to an external reference frame or to the patient
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B8/00—Diagnosis using ultrasonic, sonic or infrasonic waves
    • A61B8/46—Ultrasonic, sonic or infrasonic diagnostic devices with special arrangements for interfacing with the operator or the patient
    • A61B8/461—Displaying means of special interest
    • 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
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/36—Image-producing devices or illumination devices not otherwise provided for
    • A61B90/37—Surgical systems with images on a monitor during operation
    • G—PHYSICS
    • G16—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS
    • G16H—HEALTHCARE INFORMATICS, i.e. INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR THE HANDLING OR PROCESSING OF MEDICAL OR HEALTHCARE DATA
    • G16H20/00—ICT specially adapted for therapies or health-improving plans, e.g. for handling prescriptions, for steering therapy or for monitoring patient compliance
    • G16H20/40—ICT specially adapted for therapies or health-improving plans, e.g. for handling prescriptions, for steering therapy or for monitoring patient compliance relating to mechanical, radiation or invasive therapies, e.g. surgery, laser therapy, dialysis or acupuncture
    • G—PHYSICS
    • G16—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS
    • G16H—HEALTHCARE INFORMATICS, i.e. INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR THE HANDLING OR PROCESSING OF MEDICAL OR HEALTHCARE DATA
    • G16H40/00—ICT specially adapted for the management or administration of healthcare resources or facilities; ICT specially adapted for the management or operation of medical equipment or devices
    • G16H40/60—ICT specially adapted for the management or administration of healthcare resources or facilities; ICT specially adapted for the management or operation of medical equipment or devices for the operation of medical equipment or devices
    • G16H40/67—ICT specially adapted for the management or administration of healthcare resources or facilities; ICT specially adapted for the management or operation of medical equipment or devices for the operation of medical equipment or devices for remote operation
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B2017/00017—Electrical control of surgical instruments
    • A61B2017/00203—Electrical control of surgical instruments with speech control or speech recognition
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/10—Computer-aided planning, simulation or modelling of surgical operations
    • A61B2034/107—Visualisation of planned trajectories or target regions
    • 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
    • A61B90/36—Image-producing devices or illumination devices not otherwise provided for
    • A61B2090/364—Correlation of different images or relation of image positions in respect to the body
    • 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
    • A61B2090/364—Correlation of different images or relation of image positions in respect to the body
    • A61B2090/365—Correlation of different images or relation of image positions in respect to the body augmented reality, i.e. correlating a live optical image with another image
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/36—Image-producing devices or illumination devices not otherwise provided for
    • A61B90/37—Surgical systems with images on a monitor during operation
    • A61B2090/378—Surgical systems with images on a monitor during operation using ultrasound
    • 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
    • A61B90/03—Automatic limiting or abutting means, e.g. for safety

Landscapes

  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Surgery (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • General Health & Medical Sciences (AREA)
  • Biomedical Technology (AREA)
  • Public Health (AREA)
  • Medical Informatics (AREA)
  • Animal Behavior & Ethology (AREA)
  • Molecular Biology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Veterinary Medicine (AREA)
  • Pathology (AREA)
  • Robotics (AREA)
  • Radiology & Medical Imaging (AREA)
  • Physics & Mathematics (AREA)
  • Biophysics (AREA)
  • Oral & Maxillofacial Surgery (AREA)
  • Human Computer Interaction (AREA)
  • Epidemiology (AREA)
  • Primary Health Care (AREA)
  • Gynecology & Obstetrics (AREA)
  • Optics & Photonics (AREA)
  • General Business, Economics & Management (AREA)
  • Business, Economics & Management (AREA)
  • Urology & Nephrology (AREA)
  • Ultra Sonic Daignosis Equipment (AREA)
  • Endoscopes (AREA)
  • Manipulator (AREA)
  • Surgical Instruments (AREA)
AT06784595T 2005-06-06 2006-06-05 Laparoskopisches ultraschall-robotersystem für chirurgische zwecke ATE540634T1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US68801305P 2005-06-06 2005-06-06
PCT/US2006/021852 WO2007030173A1 (en) 2005-06-06 2006-06-05 Laparoscopic ultrasound robotic surgical system

Publications (1)

Publication Number Publication Date
ATE540634T1 true ATE540634T1 (de) 2012-01-15

Family

ID=39488202

Family Applications (1)

Application Number Title Priority Date Filing Date
AT06784595T ATE540634T1 (de) 2005-06-06 2006-06-05 Laparoskopisches ultraschall-robotersystem für chirurgische zwecke

Country Status (7)

Country Link
US (7) US20070021738A1 (de)
EP (5) EP2289454B1 (de)
JP (7) JP4999012B2 (de)
KR (1) KR101258912B1 (de)
CN (1) CN101193603B (de)
AT (1) ATE540634T1 (de)
WO (1) WO2007030173A1 (de)

Families Citing this family (448)

* 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
US10835307B2 (en) 2001-06-12 2020-11-17 Ethicon Llc Modular battery powered handheld surgical instrument containing elongated multi-layered shaft
US9155544B2 (en) * 2002-03-20 2015-10-13 P Tech, Llc Robotic systems and methods
FI117986B (fi) * 2003-06-17 2007-05-15 Onesys Oy Menetelmä ja järjestelmä navigoimiseksi tosiaikaisesti kolmiulotteisessa lääketieteellisessä kuvamallissa
US9789608B2 (en) 2006-06-29 2017-10-17 Intuitive Surgical Operations, Inc. Synthetic representation of a surgical robot
US9492240B2 (en) 2009-06-16 2016-11-15 Intuitive Surgical Operations, Inc. Virtual measurement tool for minimally invasive surgery
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
US8073528B2 (en) 2007-09-30 2011-12-06 Intuitive Surgical Operations, Inc. Tool tracking systems, methods and computer products for image guided surgery
US10555775B2 (en) 2005-05-16 2020-02-11 Intuitive Surgical Operations, Inc. Methods and system for performing 3-D tool tracking by fusion of sensor and/or camera derived data during minimally invasive robotic surgery
US11259870B2 (en) 2005-06-06 2022-03-01 Intuitive Surgical Operations, Inc. Interactive user interfaces for minimally invasive telesurgical systems
CN101193603B (zh) 2005-06-06 2010-11-03 直观外科手术公司 腹腔镜的超声机器人外科手术***
US8398541B2 (en) 2006-06-06 2013-03-19 Intuitive Surgical Operations, Inc. Interactive user interfaces for robotic minimally invasive surgical systems
EP3155998B1 (de) * 2005-10-20 2021-03-31 Intuitive Surgical Operations, Inc. Hilfsbildanzeige und -manipulation auf einer computeranzeige in einem medizinischen robotischen system
US20070129626A1 (en) * 2005-11-23 2007-06-07 Prakash Mahesh Methods and systems for facilitating surgical procedures
US9962066B2 (en) * 2005-12-30 2018-05-08 Intuitive Surgical Operations, Inc. Methods and apparatus to shape flexible entry guides for minimally invasive surgery
US7930065B2 (en) 2005-12-30 2011-04-19 Intuitive Surgical Operations, Inc. Robotic surgery system including position sensors using fiber bragg gratings
US7907166B2 (en) * 2005-12-30 2011-03-15 Intuitive Surgical Operations, Inc. Stereo telestration for robotic surgery
US8219178B2 (en) 2007-02-16 2012-07-10 Catholic Healthcare West Method and system for performing invasive medical procedures using a surgical robot
US8219177B2 (en) * 2006-02-16 2012-07-10 Catholic Healthcare West Method and system for performing invasive medical procedures using a surgical robot
US10357184B2 (en) 2012-06-21 2019-07-23 Globus Medical, Inc. Surgical tool systems and method
WO2007095637A1 (en) * 2006-02-16 2007-08-23 Catholic Healthcare West (D/B/A St. Joseph's Hospital Medical Center) System utilizing radio frequency signals for tracking and improving navigation of slender instruments during insertion into the body
US10893912B2 (en) 2006-02-16 2021-01-19 Globus Medical Inc. Surgical tool systems and methods
US10653497B2 (en) 2006-02-16 2020-05-19 Globus Medical, Inc. Surgical tool systems and methods
JP5025146B2 (ja) * 2006-03-02 2012-09-12 株式会社東芝 超音波診断装置及びそのプログラム
CN101522134B (zh) * 2006-06-05 2012-06-27 泰克尼恩研究和发展基金有限公司 挠性针的受控导向
CN104688349B (zh) 2006-06-13 2017-05-10 直观外科手术操作公司 微创手术***
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
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
US20080146915A1 (en) * 2006-10-19 2008-06-19 Mcmorrow Gerald Systems and methods for visualizing a cannula trajectory
US10795457B2 (en) 2006-12-28 2020-10-06 D3D Technologies, Inc. Interactive 3D cursor
US11315307B1 (en) 2006-12-28 2022-04-26 Tipping Point Medical Images, Llc Method and apparatus for performing rotating viewpoints using a head display unit
US11275242B1 (en) 2006-12-28 2022-03-15 Tipping Point Medical Images, Llc Method and apparatus for performing stereoscopic rotation of a volume on a head display unit
US11228753B1 (en) 2006-12-28 2022-01-18 Robert Edwin Douglas Method and apparatus for performing stereoscopic zooming on a head display unit
US8792688B2 (en) 2007-03-01 2014-07-29 Titan Medical Inc. Methods, systems and devices for three dimensional input and control methods and systems based thereon
US11576736B2 (en) 2007-03-01 2023-02-14 Titan Medical Inc. Hand controller for robotic surgery system
EP2148629B1 (de) * 2007-04-16 2012-06-06 NeuroArm Surgical, Ltd. Rahmenzuordnungs- und kraftrückkopplungsverfahren, -vorrichtungen und -systeme
WO2009044287A2 (en) * 2007-04-16 2009-04-09 The Governors Of The University Of Calgary Methods, devices, and systems for automated movements involving medical robots
US7798385B2 (en) * 2007-05-16 2010-09-21 The Invention Science Fund I, Llc Surgical stapling instrument with chemical sealant
US7832611B2 (en) 2007-05-16 2010-11-16 The Invention Science Fund I, Llc Steerable surgical stapler
US7823761B2 (en) * 2007-05-16 2010-11-02 The Invention Science Fund I, Llc Maneuverable surgical stapler
US8485411B2 (en) * 2007-05-16 2013-07-16 The Invention Science Fund I, Llc Gentle touch surgical stapler
US7922064B2 (en) 2007-05-16 2011-04-12 The Invention Science Fund, I, LLC Surgical fastening device with cutter
US20080287987A1 (en) * 2007-05-16 2008-11-20 Searete Llc, A Limited Liability Corporation Of The State Of Delaware Dispensing system for tissue sealants
US7810691B2 (en) * 2007-05-16 2010-10-12 The Invention Science Fund I, Llc Gentle touch surgical stapler
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
US8903546B2 (en) 2009-08-15 2014-12-02 Intuitive Surgical Operations, Inc. Smooth control of an articulated instrument across areas with different work space conditions
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
US9138129B2 (en) 2007-06-13 2015-09-22 Intuitive Surgical Operations, Inc. Method and system for moving a plurality of articulated instruments in tandem back towards an entry guide
US9089256B2 (en) 2008-06-27 2015-07-28 Intuitive Surgical Operations, Inc. Medical robotic system providing an auxiliary view including range of motion limitations for articulatable instruments extending out of a distal end of an entry guide
US20090069804A1 (en) * 2007-09-12 2009-03-12 Jensen Jeffrey L Apparatus for efficient power delivery
DE102007050232B4 (de) * 2007-10-20 2024-05-02 Deutsches Zentrum für Luft- und Raumfahrt e.V. Handhabungsroboter und Verfahren zur Steuerung eines Handhabungsroboters
US20090112243A1 (en) * 2007-10-25 2009-04-30 Searete Llc, A Limited Liability Corporation Of The State Of Delaware Surgical cutter with dispensing system for tissue sealants
US20090112256A1 (en) * 2007-10-30 2009-04-30 Searete Llc, A Limited Liability Corporation Of The State Of Delaware Suturing device with tissue sealant dispenser
US20090143816A1 (en) * 2007-11-30 2009-06-04 Searete Llc, A Limited Liability Corporation Of The State Of Delaware Grasper with surgical sealant dispenser
DE102007059599B4 (de) * 2007-12-11 2017-06-22 Siemens Healthcare Gmbh Vorrichtung für eine medizinische Intervention und Betriebsverfahren für eine Vorrichtung für eine medizinische Intervention
DE102007063099A1 (de) * 2007-12-28 2009-07-02 Kuka Roboter Gmbh Roboter und Verfahren zum Überwachen der Momente an einem solchen
JP5154961B2 (ja) * 2008-01-29 2013-02-27 テルモ株式会社 手術システム
US8549888B2 (en) 2008-04-04 2013-10-08 Nuvasive, Inc. System and device for designing and forming a surgical implant
US9869339B2 (en) 2008-04-11 2018-01-16 Flexdex, Inc. End-effector jaw closure transmission systems for remote access tools
EP2268211B1 (de) 2008-04-11 2018-02-14 The Regents of the University of Michigan Instrument für minimalzugang
US10405936B2 (en) 2008-04-11 2019-09-10 The Regents Of The University Of Michigan Parallel kinematic mechanisms with decoupled rotational motions
US9629689B2 (en) 2008-04-11 2017-04-25 Flexdex, Inc. Attachment apparatus for remote access tools
US8663130B2 (en) * 2008-05-28 2014-03-04 Technion Researh & Development Foundation Ltd. Ultrasound guided robot for flexible needle steering
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
US9089360B2 (en) 2008-08-06 2015-07-28 Ethicon Endo-Surgery, Inc. Devices and techniques for cutting and coagulating tissue
US8315720B2 (en) * 2008-09-26 2012-11-20 Intuitive Surgical Operations, Inc. Method for graphically providing continuous change of state directions to a user of a medical robotic system
KR100944412B1 (ko) 2008-10-13 2010-02-25 (주)미래컴퍼니 수술용 슬레이브 로봇
KR101075363B1 (ko) 2008-10-31 2011-10-19 정창욱 최소 침습 수술 도구를 포함하는 수술용 로봇 시스템
CN102224737B (zh) * 2008-11-24 2014-12-03 皇家飞利浦电子股份有限公司 组合三维视频和辅助数据
JP2012513813A (ja) * 2008-12-29 2012-06-21 コーニンクレッカ フィリップス エレクトロニクス エヌ ヴィ リモートコントロールを備えた超音波撮像システム及びその動作方法
US8374723B2 (en) 2008-12-31 2013-02-12 Intuitive Surgical Operations, Inc. Obtaining force information in a minimally invasive surgical procedure
US8184880B2 (en) 2008-12-31 2012-05-22 Intuitive Surgical Operations, Inc. Robust sparse image matching for robotic surgery
US8594841B2 (en) * 2008-12-31 2013-11-26 Intuitive Surgical Operations, Inc. Visual force feedback in a minimally invasive surgical procedure
US8830224B2 (en) 2008-12-31 2014-09-09 Intuitive Surgical Operations, Inc. Efficient 3-D telestration for local robotic proctoring
US8444564B2 (en) 2009-02-02 2013-05-21 Jointvue, Llc Noninvasive diagnostic system
US10070849B2 (en) * 2009-02-20 2018-09-11 Covidien Lp Marking articulating direction for surgical instrument
JP4601727B2 (ja) * 2009-03-24 2010-12-22 オリンパスメディカルシステムズ株式会社 内視鏡処置用ロボットシステム
US10758314B2 (en) * 2011-12-12 2020-09-01 Jack Wade Enhanced video enabled software tools for medical environments
US9155592B2 (en) * 2009-06-16 2015-10-13 Intuitive Surgical Operations, Inc. Virtual measurement tool for minimally invasive surgery
US8663220B2 (en) 2009-07-15 2014-03-04 Ethicon Endo-Surgery, Inc. Ultrasonic surgical instruments
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
KR100956762B1 (ko) * 2009-08-28 2010-05-12 주식회사 래보 이력정보를 이용한 수술 로봇 시스템 및 그 제어 방법
KR101039108B1 (ko) * 2009-09-01 2011-06-07 한양대학교 산학협력단 의료용 로봇 시스템 및 그 제어 방법
US8942453B2 (en) * 2009-09-18 2015-01-27 Konica Minolta, Inc. Ultrasonograph and method of diagnosis using same
US9060776B2 (en) 2009-10-09 2015-06-23 Ethicon Endo-Surgery, Inc. Surgical generator for ultrasonic and electrosurgical devices
US11090104B2 (en) 2009-10-09 2021-08-17 Cilag Gmbh International Surgical generator for ultrasonic and electrosurgical devices
US10441345B2 (en) 2009-10-09 2019-10-15 Ethicon Llc Surgical generator for ultrasonic and electrosurgical devices
KR101759534B1 (ko) * 2009-10-30 2017-07-19 더 존스 홉킨스 유니버시티 외과 수술 시 임상적으로 중요한 해부상의 랜드마크에 대한 시각 추적 및 주석 달기
EP3616854B1 (de) 2009-11-13 2024-07-24 Intuitive Surgical Operations, Inc. Motorschnittstelle für parallele antriebswellen in einem unabhängig rotierenden element
KR101767060B1 (ko) * 2009-11-13 2017-08-10 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 컴팩트 손목을 구비한 수술 도구
CA2901359C (en) 2009-11-27 2020-02-11 Mcmaster University Automated in-bore mr guided robotic diagnostic and therapeutic system
WO2011069469A1 (en) * 2009-12-11 2011-06-16 Hospital Authority Stereoscopic visualization system for surgery
US8469981B2 (en) 2010-02-11 2013-06-25 Ethicon Endo-Surgery, Inc. Rotatable cutting implement arrangements for ultrasonic surgical instruments
US20110238080A1 (en) * 2010-03-25 2011-09-29 Date Ranjit Robotic Surgical Instrument System
JP5380348B2 (ja) * 2010-03-31 2014-01-08 富士フイルム株式会社 内視鏡観察を支援するシステムおよび方法、並びに、装置およびプログラム
JP5311294B2 (ja) * 2010-04-28 2013-10-09 株式会社安川電機 ロボットの接触位置検出装置
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
US8795327B2 (en) 2010-07-22 2014-08-05 Ethicon Endo-Surgery, Inc. Electrosurgical instrument with separate closure and cutting members
US9192431B2 (en) 2010-07-23 2015-11-24 Ethicon Endo-Surgery, Inc. Electrosurgical cutting and sealing instrument
US10512451B2 (en) 2010-08-02 2019-12-24 Jointvue, Llc Method and apparatus for three dimensional reconstruction of a joint using ultrasound
US20120065470A1 (en) * 2010-09-14 2012-03-15 The Johns Hopkins University Robotic system to augment endoscopes
DE102010042540B4 (de) 2010-10-15 2014-09-04 Scopis Gmbh Verfahren und Vorrichtung zum Kalibrieren einer Abstandsbestimmungsvorrichtung eines optischen Systems
US8537201B2 (en) * 2010-10-18 2013-09-17 Silicon Image, Inc. Combining video data streams of differing dimensionality for concurrent display
US20140039314A1 (en) * 2010-11-11 2014-02-06 The Johns Hopkins University Remote Center of Motion Robot for Medical Image Scanning and Image-Guided Targeting
JP2012115471A (ja) * 2010-11-30 2012-06-21 Olympus Corp 医療用処置具およびマニピュレータ
US9486189B2 (en) 2010-12-02 2016-11-08 Hitachi Aloka Medical, Ltd. Assembly for use with surgery system
US20120179038A1 (en) * 2011-01-07 2012-07-12 General Electric Company Ultrasound based freehand invasive device positioning system and method
CN102028519A (zh) * 2011-01-14 2011-04-27 王群伟 超声引导肝实质离断器
EP2668637A4 (de) * 2011-01-30 2014-11-26 Ram Srikanth Mirlay Kompetenzbewertung
FR2972132B1 (fr) * 2011-03-02 2014-05-09 Gen Electric Dispositif d'assistance a la manipulation d'un instrument ou outil
WO2012131660A1 (en) 2011-04-01 2012-10-04 Ecole Polytechnique Federale De Lausanne (Epfl) Robotic system for spinal and other surgeries
KR20140048128A (ko) * 2011-05-05 2014-04-23 더 존스 홉킨스 유니버시티 태스크 궤적 분석을 위한 방법 및 시스템
CN103607971B (zh) * 2011-07-07 2016-08-31 奥林巴斯株式会社 医疗主从操作器
JP5800610B2 (ja) * 2011-07-07 2015-10-28 オリンパス株式会社 医療用マスタスレーブマニピュレータ
JP5800609B2 (ja) * 2011-07-07 2015-10-28 オリンパス株式会社 医療用マスタスレーブマニピュレータ
US9259265B2 (en) 2011-07-22 2016-02-16 Ethicon Endo-Surgery, Llc Surgical instruments for tensioning tissue
CA2845044C (en) 2011-08-12 2023-03-28 Jointvue, Llc 3-d ultrasound imaging device and methods
US10866783B2 (en) * 2011-08-21 2020-12-15 Transenterix Europe S.A.R.L. Vocally activated surgical control system
WO2013038301A2 (en) * 2011-09-13 2013-03-21 Koninklijke Philips Electronics N.V. Automatic online registration between a robot and images
CA2852233C (en) 2011-10-14 2023-08-08 Jointvue, Llc Real-time 3-d ultrasound reconstruction of knee and its implications for patient specific implants and 3-d joint injections
US9452276B2 (en) 2011-10-14 2016-09-27 Intuitive Surgical Operations, Inc. Catheter with removable vision probe
US9387048B2 (en) 2011-10-14 2016-07-12 Intuitive Surgical Operations, Inc. Catheter sensor systems
US10238837B2 (en) 2011-10-14 2019-03-26 Intuitive Surgical Operations, Inc. Catheters with control modes for interchangeable probes
US20130303944A1 (en) 2012-05-14 2013-11-14 Intuitive Surgical Operations, Inc. Off-axis electromagnetic sensor
JP5893330B2 (ja) * 2011-10-18 2016-03-23 オリンパス株式会社 操作入力装置および操作入力装置の初期化方法
JP2013111726A (ja) 2011-11-30 2013-06-10 Sony Corp ロボット装置及びその制御方法、並びにコンピューター・プログラム
BR112014013073A2 (pt) * 2011-12-03 2017-06-13 Koninklijke Philips Nv sistema e método para orientação robótica cirúrgica
AU2012358829B2 (en) * 2011-12-21 2017-08-03 Medrobotics Corporation Stabilizing apparatus for highly articulated probes with link arrangement, methods of formation thereof, and methods of use thereof
KR101941844B1 (ko) * 2012-01-10 2019-04-11 삼성전자주식회사 로봇 및 그 제어방법
WO2013119545A1 (en) 2012-02-10 2013-08-15 Ethicon-Endo Surgery, Inc. Robotically controlled surgical instrument
KR102224376B1 (ko) * 2012-02-15 2021-03-08 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 입력 장치의 오퍼레이터가 볼 수 있는 디스플레이 영역으로 기구가 진입할 때 기구의 제어를 입력 장치로 전환하는 방법
DE102012102749A1 (de) * 2012-03-29 2013-10-02 Reis Group Holding Gmbh & Co. Kg Vorrichtung und Verfahren zur Bedienung eines Industrieroboters
US9439668B2 (en) 2012-04-09 2016-09-13 Ethicon Endo-Surgery, Llc Switch arrangements for ultrasonic surgical instruments
CN102768541B (zh) * 2012-04-28 2015-12-09 中国科学院深圳先进技术研究院 手术机器人的控制方法和***
US11135026B2 (en) 2012-05-11 2021-10-05 Peter L. Bono Robotic surgical system
JP6323974B2 (ja) * 2012-05-18 2018-05-16 オリンパス株式会社 手術支援装置
CN103456222B (zh) * 2012-06-01 2015-11-25 苏州敏行医学信息技术有限公司 基于腹腔镜手术模拟***的电凝训练方法及***
US11857149B2 (en) 2012-06-21 2024-01-02 Globus Medical, Inc. Surgical robotic systems with target trajectory deviation monitoring and related methods
US12004905B2 (en) 2012-06-21 2024-06-11 Globus Medical, Inc. Medical imaging systems using robotic actuators and related methods
US11298196B2 (en) 2012-06-21 2022-04-12 Globus Medical Inc. Surgical robotic automation with tracking markers and controlled tool advancement
US11116576B2 (en) 2012-06-21 2021-09-14 Globus Medical Inc. Dynamic reference arrays and methods of use
US10136954B2 (en) 2012-06-21 2018-11-27 Globus Medical, Inc. Surgical tool systems and method
US11857266B2 (en) 2012-06-21 2024-01-02 Globus Medical, Inc. System for a surveillance marker in robotic-assisted surgery
US11395706B2 (en) 2012-06-21 2022-07-26 Globus Medical Inc. Surgical robot platform
US11607149B2 (en) 2012-06-21 2023-03-21 Globus Medical Inc. Surgical tool systems and method
US11974822B2 (en) 2012-06-21 2024-05-07 Globus Medical Inc. Method for a surveillance marker in robotic-assisted surgery
US10350013B2 (en) 2012-06-21 2019-07-16 Globus Medical, Inc. Surgical tool systems and methods
US11399900B2 (en) 2012-06-21 2022-08-02 Globus Medical, Inc. Robotic systems providing co-registration using natural fiducials and related methods
WO2013192598A1 (en) 2012-06-21 2013-12-27 Excelsius Surgical, L.L.C. Surgical robot platform
US10231791B2 (en) 2012-06-21 2019-03-19 Globus Medical, Inc. Infrared signal based position recognition system for use with a robot-assisted surgery
US10624710B2 (en) 2012-06-21 2020-04-21 Globus Medical, Inc. System and method for measuring depth of instrumentation
US11253327B2 (en) 2012-06-21 2022-02-22 Globus Medical, Inc. Systems and methods for automatically changing an end-effector on a surgical robot
US11317971B2 (en) 2012-06-21 2022-05-03 Globus Medical, Inc. Systems and methods related to robotic guidance in surgery
US11793570B2 (en) 2012-06-21 2023-10-24 Globus Medical Inc. Surgical robotic automation with tracking markers
US10758315B2 (en) 2012-06-21 2020-09-01 Globus Medical Inc. Method and system for improving 2D-3D registration convergence
US11864839B2 (en) 2012-06-21 2024-01-09 Globus Medical Inc. Methods of adjusting a virtual implant and related surgical navigation systems
US11045267B2 (en) 2012-06-21 2021-06-29 Globus Medical, Inc. Surgical robotic automation with tracking markers
US11864745B2 (en) 2012-06-21 2024-01-09 Globus Medical, Inc. Surgical robotic system with retractor
US20140005705A1 (en) 2012-06-29 2014-01-02 Ethicon Endo-Surgery, Inc. Surgical instruments with articulating shafts
US9326788B2 (en) 2012-06-29 2016-05-03 Ethicon Endo-Surgery, Llc Lockout mechanism for use with robotic electrosurgical device
US9198714B2 (en) 2012-06-29 2015-12-01 Ethicon Endo-Surgery, Inc. Haptic feedback devices for surgical robot
US9226767B2 (en) 2012-06-29 2016-01-05 Ethicon Endo-Surgery, Inc. Closed feedback control for electrosurgical device
US9393037B2 (en) 2012-06-29 2016-07-19 Ethicon Endo-Surgery, Llc Surgical instruments with articulating shafts
US9408622B2 (en) 2012-06-29 2016-08-09 Ethicon Endo-Surgery, Llc Surgical instruments with articulating shafts
US20140005702A1 (en) 2012-06-29 2014-01-02 Ethicon Endo-Surgery, Inc. Ultrasonic surgical instruments with distally positioned transducers
US9351754B2 (en) 2012-06-29 2016-05-31 Ethicon Endo-Surgery, Llc Ultrasonic surgical instruments with distally positioned jaw assemblies
CN113509271A (zh) 2012-08-15 2021-10-19 直观外科手术操作公司 由机器人手臂的手动运动控制的可移动手术安装平台
WO2014043697A2 (en) 2012-09-17 2014-03-20 Omniguide, Inc. Devices and methods for laser surgery
KR102335797B1 (ko) 2012-09-17 2021-12-07 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 원격조작 수술 기구 기능들에 입력 장치들을 할당하는 방법 및 시스템
JP6275727B2 (ja) 2012-09-28 2018-02-07 エシコン・エンド−サージェリィ・インコーポレイテッドＥｔｈｉｃｏｎ Ｅｎｄｏ−Ｓｕｒｇｅｒｙ，Ｉｎｃ． 多機能バイポーラ鉗子
US9095367B2 (en) 2012-10-22 2015-08-04 Ethicon Endo-Surgery, Inc. Flexible harmonic waveguides/blades for surgical instruments
US10201365B2 (en) 2012-10-22 2019-02-12 Ethicon Llc Surgeon feedback sensing and display methods
CN102982233B (zh) * 2012-11-01 2016-02-03 华中科技大学 具有立体视觉显示的医学影像工作站
JP6262754B2 (ja) * 2012-11-02 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 フラックス伝送コネクタ及びシステム、フラックス除去、並びにフラックス供給路をマッピングするためのシステム及び方法
US20140135804A1 (en) 2012-11-15 2014-05-15 Ethicon Endo-Surgery, Inc. Ultrasonic and electrosurgical devices
EP2925250B1 (de) 2012-11-30 2017-07-26 Olympus Corporation Betriebsunterstützungssystem
EP3932628A1 (de) 2012-12-10 2022-01-05 Intuitive Surgical Operations, Inc. Kollisionsvermeidung während der gesteuerten bewegung einer bilderfassungsvorrichtung und bewegliche arme einer manipulierbaren vorrichtung
DE102012025100A1 (de) * 2012-12-20 2014-06-26 avateramedical GmBH Entkoppeltes Mehrkamerasystem für die minimal-invasive Chirurgie
US10398449B2 (en) 2012-12-21 2019-09-03 Mako Surgical Corp. Systems and methods for haptic control of a surgical tool
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
JP2013090968A (ja) * 2013-02-18 2013-05-16 Toshiba Corp Ｘ線診断装置
CN105050526B (zh) 2013-03-15 2018-06-01 直观外科手术操作公司 利用零空间以便利进入笛卡尔坐标空间的边缘的***和方法
EP2967297B1 (de) 2013-03-15 2022-01-05 Synaptive Medical Inc. System zur dynamischen validierung, korrektur oder registrierung zur chirurgischen navigation
EP2975995B1 (de) 2013-03-20 2023-05-31 Covidien LP System zur verbesserung einer bild-in-bild-darstellung für bildgebungsvorrichtungen für chirurgische eingriffe
JP6134051B2 (ja) * 2013-03-29 2017-05-31 コーニンクレッカ フィリップス エヌ ヴェＫｏｎｉｎｋｌｉｊｋｅ Ｐｈｉｌｉｐｓ Ｎ．Ｖ． 歪測定の間の撮像中に超音波プローブにおける力及びトルクを測定するシステム
KR102171873B1 (ko) * 2013-05-08 2020-10-29 삼성전자주식회사 햅틱 글로브 및 수술로봇 시스템
CN103860205B (zh) * 2013-06-21 2015-08-19 深圳开立生物医疗科技股份有限公司 一种改善物理定位准确性的腹腔镜超声探头传感器及其探头
CN103356155B (zh) * 2013-06-24 2014-12-31 清华大学深圳研究生院 虚拟内窥镜辅助的腔体病灶检查***
WO2015031777A1 (en) 2013-08-29 2015-03-05 Wayne State University Camera control system and method
US9814514B2 (en) 2013-09-13 2017-11-14 Ethicon Llc Electrosurgical (RF) medical instruments for cutting and coagulating tissue
US9283048B2 (en) 2013-10-04 2016-03-15 KB Medical SA Apparatus and systems for precise guidance of surgical tools
US9265926B2 (en) 2013-11-08 2016-02-23 Ethicon Endo-Surgery, Llc Electrosurgical devices
CA2931529C (en) * 2013-11-27 2022-08-23 Children's National Medical Center 3d corrected imaging
GB2521228A (en) 2013-12-16 2015-06-17 Ethicon Endo Surgery Inc Medical device
RU2689176C2 (ru) * 2014-01-02 2019-05-24 Конинклейке Филипс Н.В. Ориентация и отслеживание положения инструмента относительно плоскости ультразвукового изображения
US9795436B2 (en) 2014-01-07 2017-10-24 Ethicon Llc Harvesting energy from a surgical generator
WO2015107099A1 (en) 2014-01-15 2015-07-23 KB Medical SA Notched apparatus for guidance of an insertable instrument along an axis during spinal surgery
WO2015110928A1 (en) * 2014-01-24 2015-07-30 Koninklijke Philips N.V. Virtual image with optical shape sensing device perspective
US10039605B2 (en) 2014-02-11 2018-08-07 Globus Medical, Inc. Sterile handle for controlling a robotic surgical system from a sterile field
KR102237597B1 (ko) * 2014-02-18 2021-04-07 삼성전자주식회사 수술 로봇용 마스터 장치 및 그 제어 방법
CN103869189B (zh) * 2014-03-14 2016-09-14 南京东恒通信科技有限公司 一种无源器件调试***
US9554854B2 (en) 2014-03-18 2017-01-31 Ethicon Endo-Surgery, Llc Detecting short circuits in electrosurgical medical devices
US10463421B2 (en) 2014-03-27 2019-11-05 Ethicon Llc Two stage trigger, clamp and cut bipolar vessel sealer
US10092310B2 (en) 2014-03-27 2018-10-09 Ethicon Llc Electrosurgical devices
US9737355B2 (en) 2014-03-31 2017-08-22 Ethicon Llc Controlling impedance rise in electrosurgical medical devices
US9913680B2 (en) 2014-04-15 2018-03-13 Ethicon Llc Software algorithms for electrosurgical instruments
WO2015161297A1 (en) * 2014-04-17 2015-10-22 The Johns Hopkins University Robot assisted ultrasound system
US10004562B2 (en) 2014-04-24 2018-06-26 Globus Medical, Inc. Surgical instrument holder for use with a robotic surgical system
KR102258800B1 (ko) * 2014-05-15 2021-05-31 삼성메디슨 주식회사 초음파 진단장치 및 그에 따른 초음파 진단 방법
AU2015259635B2 (en) * 2014-05-15 2019-04-18 Covidien Lp Systems and methods for controlling a camera position in a surgical robotic system
WO2016008880A1 (en) 2014-07-14 2016-01-21 KB Medical SA Anti-skid surgical instrument for use in preparing holes in bone tissue
US10285724B2 (en) 2014-07-31 2019-05-14 Ethicon Llc Actuation mechanisms and load adjustment assemblies for surgical instruments
CN106794012B (zh) * 2014-08-23 2022-09-16 直观外科手术操作公司 用于动态轨迹控制的***和方法
CN104200730B (zh) * 2014-09-09 2017-05-10 华中科技大学 一种用于虚拟腹腔镜手术的装置、方法及***
US9815206B2 (en) * 2014-09-25 2017-11-14 The Johns Hopkins University Surgical system user interface using cooperatively-controlled robot
US10499999B2 (en) 2014-10-09 2019-12-10 Auris Health, Inc. Systems and methods for aligning an elongate member with an access site
US10123846B2 (en) 2014-11-13 2018-11-13 Intuitive Surgical Operations, Inc. User-interface control using master controller
CN118370610A (zh) * 2014-11-13 2024-07-23 直观外科手术操作公司 用户界面与主控制器之间的交互作用
US10639092B2 (en) 2014-12-08 2020-05-05 Ethicon Llc Electrode configurations for surgical instruments
DE102014226240A1 (de) * 2014-12-17 2016-06-23 Kuka Roboter Gmbh System zur roboterunterstützten medizinischen Behandlung
GB2550512B (en) * 2015-01-29 2019-01-23 Synaptive Medical Barbados Inc Physiological phantoms incorporating feedback sensors and sensing materials
US10013808B2 (en) 2015-02-03 2018-07-03 Globus Medical, Inc. Surgeon head-mounted display apparatuses
US10245095B2 (en) 2015-02-06 2019-04-02 Ethicon Llc Electrosurgical instrument with rotation and articulation mechanisms
US10695099B2 (en) 2015-02-13 2020-06-30 Nuvasive, Inc. Systems and methods for planning, performing, and assessing spinal correction during surgery
EP3258872B1 (de) 2015-02-18 2023-04-26 KB Medical SA Syteme zur durchführung minimalinvasiver spinal-chirurgie mittles eines robotischen-chirurgischen system unter benutzung einer perkutanen technik
CN107249498B (zh) 2015-02-19 2024-04-23 柯惠Lp公司 机器人手术***的输入装置的重定位方法
US10342602B2 (en) 2015-03-17 2019-07-09 Ethicon Llc Managing tissue treatment
WO2016149308A1 (en) * 2015-03-17 2016-09-22 Intuitive Surgical Operations, Inc. System and method for providing feedback during manual joint positioning
CN112168358A (zh) 2015-03-17 2021-01-05 直观外科手术操作公司 用于在远程操作医疗***中的器械的屏幕识别的***和方法
US10321950B2 (en) 2015-03-17 2019-06-18 Ethicon Llc Managing tissue treatment
US10595929B2 (en) 2015-03-24 2020-03-24 Ethicon Llc Surgical instruments with firing system overload protection mechanisms
WO2016161449A1 (en) 2015-04-03 2016-10-06 The Regents Of The University Of Michigan Tension management apparatus for cable-driven transmission
US20160310043A1 (en) * 2015-04-26 2016-10-27 Endochoice, Inc. Endoscopic Polyp Measurement Tool and Method for Using the Same
US9622831B2 (en) * 2015-05-20 2017-04-18 Siemens Healthcare Gmbh Method and apparatus to provide updated patient images during robotic surgery
WO2016201303A1 (en) * 2015-06-12 2016-12-15 The Johns Hopkins University Cooperatively-controlled surgical robotic system with redundant force sensing
WO2016207692A1 (en) 2015-06-22 2016-12-29 B-K Medical Aps Us imaging probe with an us transducer array and an integrated optical imaging sub-system
US11051873B2 (en) 2015-06-30 2021-07-06 Cilag Gmbh International Surgical system with user adaptable techniques employing multiple energy modalities based on tissue parameters
US11129669B2 (en) 2015-06-30 2021-09-28 Cilag Gmbh International Surgical system with user adaptable techniques based on tissue type
US10034704B2 (en) 2015-06-30 2018-07-31 Ethicon Llc Surgical instrument with user adaptable algorithms
US10898256B2 (en) 2015-06-30 2021-01-26 Ethicon Llc Surgical system with user adaptable techniques based on tissue impedance
US11141213B2 (en) 2015-06-30 2021-10-12 Cilag Gmbh International Surgical instrument with user adaptable techniques
KR101703114B1 (ko) * 2015-07-08 2017-02-06 한국기계연구원 중재시술용 마스터장치와 마스터장치의 제어방법 그리고 이것을 이용한 원격중재시술장치
US10646298B2 (en) 2015-07-31 2020-05-12 Globus Medical, Inc. Robot arm and methods of use
US10058394B2 (en) 2015-07-31 2018-08-28 Globus Medical, Inc. Robot arm and methods of use
US10080615B2 (en) 2015-08-12 2018-09-25 Globus Medical, Inc. Devices and methods for temporary mounting of parts to bone
WO2017031132A1 (en) * 2015-08-17 2017-02-23 Intuitive Surgical Operations, Inc. Unground master control devices and methods of use
US10687905B2 (en) 2015-08-31 2020-06-23 KB Medical SA Robotic surgical systems and methods
US10034716B2 (en) 2015-09-14 2018-07-31 Globus Medical, Inc. Surgical robotic systems and methods thereof
US10687884B2 (en) 2015-09-30 2020-06-23 Ethicon Llc Circuits for supplying isolated direct current (DC) voltage to surgical instruments
WO2017059442A1 (en) 2015-10-02 2017-04-06 Flexdex, Inc. Handle mechanism providing unlimited roll
US11896255B2 (en) 2015-10-05 2024-02-13 Flexdex, Inc. End-effector jaw closure transmission systems for remote access tools
WO2017062516A1 (en) 2015-10-05 2017-04-13 Flexdex, Inc. Medical devices having smoothly articulating multi-cluster joints
US9771092B2 (en) 2015-10-13 2017-09-26 Globus Medical, Inc. Stabilizer wheel assembly and methods of use
US10595930B2 (en) 2015-10-16 2020-03-24 Ethicon Llc Electrode wiping surgical device
US10973597B2 (en) 2015-10-22 2021-04-13 Covidien Lp Multi-input robot surgical system control scheme
DE102015221337A1 (de) 2015-10-30 2017-05-04 Keba Ag Verfahren und Steuerungssystem zum Steuern der Bewegungen von Gelenkarmen eines Industrieroboters sowie dabei eingesetztes Bewegungsvorgabemittel
WO2017098506A1 (en) * 2015-12-07 2017-06-15 M.S.T. Medical Surgery Technologies Ltd. Autonomic goals-based training and assessment system for laparoscopic surgery
WO2017098507A1 (en) * 2015-12-07 2017-06-15 M.S.T. Medical Surgery Technologies Ltd. Fully autonomic artificial intelligence robotic system
CN105376503B (zh) * 2015-12-14 2018-07-20 北京医千创科技有限公司 一种手术图像处理装置及方法
WO2017114855A1 (en) * 2015-12-29 2017-07-06 Koninklijke Philips N.V. System, control unit and method for control of a surgical robot
US10179022B2 (en) 2015-12-30 2019-01-15 Ethicon Llc Jaw position impedance limiter for electrosurgical instrument
US10575892B2 (en) 2015-12-31 2020-03-03 Ethicon Llc Adapter for electrical surgical instruments
US9925013B2 (en) * 2016-01-14 2018-03-27 Synaptive Medical (Barbados) Inc. System and method for configuring positions in a surgical positioning system
US10716615B2 (en) 2016-01-15 2020-07-21 Ethicon Llc Modular battery powered handheld surgical instrument with curved end effectors having asymmetric engagement between jaw and blade
US11129670B2 (en) 2016-01-15 2021-09-28 Cilag Gmbh International Modular battery powered handheld surgical instrument with selective application of energy based on button displacement, intensity, or local tissue characterization
US11229471B2 (en) 2016-01-15 2022-01-25 Cilag Gmbh International Modular battery powered handheld surgical instrument with selective application of energy based on tissue characterization
US10537351B2 (en) 2016-01-15 2020-01-21 Ethicon Llc Modular battery powered handheld surgical instrument with variable motor control limits
KR102518492B1 (ko) 2016-01-19 2023-04-05 타이탄 메디칼 아이엔씨. 로봇 수술 시스템용 그래픽 사용자 인터페이스
US11883217B2 (en) 2016-02-03 2024-01-30 Globus Medical, Inc. Portable medical imaging system and method
US11058378B2 (en) 2016-02-03 2021-07-13 Globus Medical, Inc. Portable medical imaging system
US10448910B2 (en) 2016-02-03 2019-10-22 Globus Medical, Inc. Portable medical imaging system
US10117632B2 (en) 2016-02-03 2018-11-06 Globus Medical, Inc. Portable medical imaging system with beam scanning collimator
US10842453B2 (en) 2016-02-03 2020-11-24 Globus Medical, Inc. Portable medical imaging system
US10555769B2 (en) 2016-02-22 2020-02-11 Ethicon Llc Flexible circuits for electrosurgical instrument
ES2877761T3 (es) 2016-03-02 2021-11-17 Nuvasive Inc Sistemas y procedimientos para la planificación quirúrgica de corrección de la columna
US20170252002A1 (en) * 2016-03-07 2017-09-07 Toshiba Medical Systems Corporation Ultrasonic diagnostic apparatus and ultrasonic diagnosis support apparatus
CN109195527B (zh) 2016-03-13 2022-02-11 乌泽医疗有限公司 用于与骨骼手术一起使用的设备及方法
US10866119B2 (en) 2016-03-14 2020-12-15 Globus Medical, Inc. Metal detector for detecting insertion of a surgical device into a hollow tube
CN105662588B (zh) * 2016-03-16 2018-06-29 北京理工大学 一种主从式微创血管介入手术远程操作***
EP3241518A3 (de) 2016-04-11 2018-01-24 Globus Medical, Inc Systeme und verfahren für chirurgische werkzeuge
US10702329B2 (en) 2016-04-29 2020-07-07 Ethicon Llc Jaw structure with distal post for electrosurgical instruments
US10485607B2 (en) 2016-04-29 2019-11-26 Ethicon Llc Jaw structure with distal closure for electrosurgical instruments
US10646269B2 (en) 2016-04-29 2020-05-12 Ethicon Llc Non-linear jaw gap for electrosurgical instruments
US10456193B2 (en) 2016-05-03 2019-10-29 Ethicon Llc Medical device with a bilateral jaw configuration for nerve stimulation
EP3463032B1 (de) * 2016-05-31 2020-12-23 Koninklijke Philips N.V. Bildbasierte fusion von endoskopischen bildern und ultraschallbildern
EP3463096A4 (de) 2016-06-06 2020-02-12 EDDA Technology, Inc. Verfahren und system zur interaktiven laparoskopischen ultraschallgeführten ablationsplanung und simulation von chirurgischen verfahren
US10265862B1 (en) 2016-06-21 2019-04-23 University Of South Florida Robotic end effectors for use with robotic manipulators
EP3478207B1 (de) * 2016-06-30 2023-08-09 Koninklijke Philips N.V. Medizinisches navigationssystem mit optischer positionserfassung
WO2018013773A1 (en) * 2016-07-13 2018-01-18 Qatar Foundation For Education, Science And Community Development System for camera control in robotic and laparoscopic surgery
US10376305B2 (en) 2016-08-05 2019-08-13 Ethicon Llc Methods and systems for advanced harmonic energy
EP3509526A4 (de) 2016-09-07 2020-07-01 Intellijoint Surgical Inc. Systeme und verfahren zur chirurgischen navigation, einschliesslich bildgesteuerter navigation, des kopfes eines patienten
KR101826848B1 (ko) 2016-10-18 2018-02-08 한국기계연구원 중재시술용 마스터장치와 중재시술용 마스터장치의 제어방법, 그리고 이것을 이용한 원격중재시술시스템
CA3041344A1 (en) * 2016-10-21 2018-04-26 Synaptive Medical (Barbados) Inc. Mixed reality training system
US11266430B2 (en) 2016-11-29 2022-03-08 Cilag Gmbh International End effector control and calibration
JP7022400B2 (ja) * 2017-01-13 2022-02-18 朝日サージカルロボティクス株式会社 手術支援装置、その制御方法、プログラム並びに手術支援システム
EP3360502A3 (de) 2017-01-18 2018-10-31 KB Medical SA Robotische navigation von robotischen chirurgischen systemen
DE102017103198A1 (de) * 2017-02-16 2018-08-16 avateramedical GmBH Vorrichtung zum Festlegen und Wiederauffinden eines Bezugspunkts während eines chirurgischen Eingriffs
FR3063667B1 (fr) * 2017-03-13 2019-04-19 Staubli Faverges Procede de commande d'une cellule de travail automatisee
US11071594B2 (en) 2017-03-16 2021-07-27 KB Medical SA Robotic navigation of robotic surgical systems
EP3600123A1 (de) 2017-03-31 2020-02-05 Koninklijke Philips N.V. Krafterfassende oberflächenabtastsysteme, vorrichtungen, steuergeräte und verfahren
US11779192B2 (en) * 2017-05-03 2023-10-10 Covidien Lp Medical image viewer control from surgeon's camera
WO2018218336A1 (en) * 2017-05-12 2018-12-06 Exonetik Inc. Exoskeleton, orthosis, wearable device or mobile robots using magnetorheological fluid clutch apparatus
EP3409230B1 (de) * 2017-05-31 2019-05-22 Siemens Healthcare GmbH Bewegen eines roboterarms
WO2018226377A1 (en) * 2017-06-06 2018-12-13 Avent, Inc. System and method for identifying and navigating anatomical objects using deep learning networks
CN110809452B (zh) 2017-06-28 2023-05-23 奥瑞斯健康公司 电磁场发生器对准
CN110913788B (zh) 2017-06-28 2024-03-12 奥瑞斯健康公司 电磁失真检测
US11389192B2 (en) 2017-06-29 2022-07-19 Cilag Gmbh International Method of suturing a trocar path incision
US10568619B2 (en) 2017-06-29 2020-02-25 Ethicon Llc Surgical port with wound closure channels
US11406338B2 (en) 2017-07-08 2022-08-09 Vuze Medical Ltd. Apparatus and methods for use with image-guided skeletal procedures
US11135015B2 (en) 2017-07-21 2021-10-05 Globus Medical, Inc. Robot surgical platform
EP4279013A3 (de) * 2017-08-22 2023-11-29 Intuitive Surgical Operations, Inc. Techniken zur erkennung der installation von benutzerinstallierbaren teilen
AU2018323621A1 (en) * 2017-08-31 2020-02-06 Butterfly Network, Inc. Methods and apparatus for collection of ultrasound data
WO2019046825A1 (en) * 2017-08-31 2019-03-07 The Regents Of The University Of California IMPROVED ULTRASONIC SYSTEMS AND METHODS
CN111132629B (zh) 2017-09-06 2024-04-16 柯惠Lp公司 手术机器人的边界缩放
NL2019493B1 (en) * 2017-09-06 2019-03-14 De Raadt Beheer B V Imaging device
US10464209B2 (en) 2017-10-05 2019-11-05 Auris Health, Inc. Robotic system with indication of boundary for robotic arm
US10016900B1 (en) 2017-10-10 2018-07-10 Auris Health, Inc. Surgical robotic arm admittance control
AU2018355215A1 (en) 2017-10-23 2020-06-11 Capstone Surgical Technologies, Llc Rotary oscillating and linearly reciprocating surgical tool
US11357548B2 (en) 2017-11-09 2022-06-14 Globus Medical, Inc. Robotic rod benders and related mechanical and motor housings
US10898252B2 (en) 2017-11-09 2021-01-26 Globus Medical, Inc. Surgical robotic systems for bending surgical rods, and related methods and devices
US11794338B2 (en) 2017-11-09 2023-10-24 Globus Medical Inc. Robotic rod benders and related mechanical and motor housings
US11134862B2 (en) 2017-11-10 2021-10-05 Globus Medical, Inc. Methods of selecting surgical implants and related devices
CN108062980B (zh) * 2017-12-05 2021-12-21 华中科技大学鄂州工业技术研究院 虚拟腹腔镜肝囊肿切除开窗手术演示方法和***
CZ2017777A3 (cs) * 2017-12-05 2019-07-03 Radalytica s.r.o. Způsob nedestruktivního zobrazování vnitřní struktury a zařízení k provádění tohoto způsobu
CN108122467A (zh) * 2017-12-28 2018-06-05 王震坤 腹腔镜模拟训练机
IT201800000673U1 (it) * 2018-01-11 2019-07-11 Apparato robotizzato per operazioni chirurgiche
CA3088304A1 (en) 2018-01-12 2019-07-18 Peter L. BONO Robotic surgical control system
US20190254753A1 (en) 2018-02-19 2019-08-22 Globus Medical, Inc. Augmented reality navigation systems for use with robotic surgical systems and methods of their use
GB2571319B (en) * 2018-02-23 2022-11-23 Cmr Surgical Ltd Concurrent control of an end effector in a master-slave robotic system using multiple input devices
US10573023B2 (en) 2018-04-09 2020-02-25 Globus Medical, Inc. Predictive visualization of medical imaging scanner component movement
CN108836406A (zh) * 2018-06-01 2018-11-20 南方医科大学 一种基于语音识别的单人腹腔镜手术***和方法
JP7427654B2 (ja) 2018-09-17 2024-02-05 オーリス ヘルス インコーポレイテッド 付随する医療処置を行うためのシステム及び方法
EP3866720A4 (de) * 2018-10-15 2022-07-06 Mazor Robotics Ltd. Vielseitiges chirurgisches robotersystem mit mehreren armen
EP4039167A1 (de) 2018-10-26 2022-08-10 Intuitive Surgical Operations, Inc. Systeme und verfahren der gemischten realität zur anzeige des umfangs eines sichtfeldes einer bildgebenden vorrichtung
KR102168567B1 (ko) * 2018-10-26 2020-10-21 윤삼열 착용 가능한 수술용 로봇 암
US11337742B2 (en) 2018-11-05 2022-05-24 Globus Medical Inc Compliant orthopedic driver
WO2020097224A1 (en) 2018-11-06 2020-05-14 Bono Peter L Robotic surgical system and method
US11278360B2 (en) 2018-11-16 2022-03-22 Globus Medical, Inc. End-effectors for surgical robotic systems having sealed optical components
EP3883491A4 (de) * 2018-11-22 2022-08-24 Vuze Medical Ltd. Vorrichtung und verfahren zur verwendung mit bildgeführten skeletteingriffen
US11602402B2 (en) 2018-12-04 2023-03-14 Globus Medical, Inc. Drill guide fixtures, cranial insertion fixtures, and related methods and robotic systems
US11744655B2 (en) 2018-12-04 2023-09-05 Globus Medical, Inc. Drill guide fixtures, cranial insertion fixtures, and related methods and robotic systems
CN113395945A (zh) * 2018-12-11 2021-09-14 项目莫里股份有限公司 用于机器人导管和其他用途的用户界面和模拟***的混合维增强现实和/或配准
CN109549667B (zh) * 2018-12-29 2022-05-27 无锡祥生医疗科技股份有限公司 超声换能器扫描***、方法及超声成像设备
CN109919032B (zh) * 2019-01-31 2021-03-30 华南理工大学 一种基于动作预测的视频异常行为检测方法
CN109658772B (zh) * 2019-02-11 2021-01-26 三峡大学 一种基于虚拟现实的手术培训与考核方法
CN109620415B (zh) * 2019-02-14 2024-03-26 北京水木天蓬医疗技术有限公司 机器人辅助超声骨动力***
WO2020176161A1 (en) * 2019-02-25 2020-09-03 Acessa Health Inc. Automated ablation control systems
EP3705074A1 (de) 2019-03-08 2020-09-09 MAKO Surgical Corp. Systeme und verfahren zur steuerung der bewegung eines chirurgischen instruments entlang eines vordefinierten wegs
US11690690B2 (en) * 2019-03-15 2023-07-04 Cilag Gmbh International Segmented control inputs for surgical robotic systems
US11992282B2 (en) 2019-03-15 2024-05-28 Cilag Gmbh International Motion capture controls for robotic surgery
US11918313B2 (en) 2019-03-15 2024-03-05 Globus Medical Inc. Active end effectors for surgical robots
US11571265B2 (en) 2019-03-22 2023-02-07 Globus Medical Inc. System for neuronavigation registration and robotic trajectory guidance, robotic surgery, and related methods and devices
US11382549B2 (en) 2019-03-22 2022-07-12 Globus Medical, Inc. System for neuronavigation registration and robotic trajectory guidance, and related methods and devices
US20200297357A1 (en) 2019-03-22 2020-09-24 Globus Medical, Inc. System for neuronavigation registration and robotic trajectory guidance, robotic surgery, and related methods and devices
US11419616B2 (en) 2019-03-22 2022-08-23 Globus Medical, Inc. System for neuronavigation registration and robotic trajectory guidance, robotic surgery, and related methods and devices
US11806084B2 (en) 2019-03-22 2023-11-07 Globus Medical, Inc. System for neuronavigation registration and robotic trajectory guidance, and related methods and devices
US11317978B2 (en) 2019-03-22 2022-05-03 Globus Medical, Inc. System for neuronavigation registration and robotic trajectory guidance, robotic surgery, and related methods and devices
US20220167964A1 (en) * 2019-04-12 2022-06-02 Covidien Lp Method and system for color based indication of suture strain
US11337767B2 (en) * 2019-05-17 2022-05-24 Verb Surgical Inc. Interlock mechanisms to disengage and engage a teleoperation mode
US11045179B2 (en) 2019-05-20 2021-06-29 Global Medical Inc Robot-mounted retractor system
CN114126493A (zh) * 2019-05-31 2022-03-01 直观外科手术操作公司 通过超声探头检测组织接触的***和方法
JP7320625B2 (ja) * 2019-05-31 2023-08-03 ティーブイエー メディカル， インコーポレイテッド 血管の血管内治療のためのシステム、方法、およびカテーテル
US11628023B2 (en) 2019-07-10 2023-04-18 Globus Medical, Inc. Robotic navigational system for interbody implants
JP7270928B2 (ja) * 2019-08-28 2023-05-11 学校法人早稲田大学 超音波プローブ移動装置及びその動作制御プログラム
KR20220056220A (ko) 2019-09-03 2022-05-04 아우리스 헬스, 인코포레이티드 전자기 왜곡 검출 및 보상
CN110464468B (zh) * 2019-09-10 2020-08-11 深圳市精锋医疗科技有限公司 手术机器人及其末端器械的控制方法、控制装置
US11571171B2 (en) 2019-09-24 2023-02-07 Globus Medical, Inc. Compound curve cable chain
US11890066B2 (en) 2019-09-30 2024-02-06 Globus Medical, Inc Surgical robot with passive end effector
US11426178B2 (en) 2019-09-27 2022-08-30 Globus Medical Inc. Systems and methods for navigating a pin guide driver
US11864857B2 (en) 2019-09-27 2024-01-09 Globus Medical, Inc. Surgical robot with passive end effector
US11510684B2 (en) 2019-10-14 2022-11-29 Globus Medical, Inc. Rotary motion passive end effector for surgical robots in orthopedic surgeries
CN110859672B (zh) * 2019-11-07 2021-05-25 北京唯迈医疗设备有限公司 介入手术机器人自动交替夹紧松开导丝装置
US11992373B2 (en) 2019-12-10 2024-05-28 Globus Medical, Inc Augmented reality headset with varied opacity for navigated robotic surgery
EP4081153A1 (de) * 2019-12-23 2022-11-02 Mazor Robotics Ltd. Mehrarmrobotersystem für wirbelsäulenchirurgie mit bildgebungsführung
RU197062U1 (ru) * 2019-12-26 2020-03-26 федеральное государственное автономное образовательное учреждение высшего образования "Санкт-Петербургский политехнический университет Петра Великого" (ФГАОУ ВО "СПбПУ") Робот для термической абляции новообразований методом HIFU
US20210196358A1 (en) 2019-12-30 2021-07-01 Ethicon Llc Electrosurgical instrument with electrodes biasing support
US11812957B2 (en) 2019-12-30 2023-11-14 Cilag Gmbh International Surgical instrument comprising a signal interference resolution system
US11779329B2 (en) 2019-12-30 2023-10-10 Cilag Gmbh International Surgical instrument comprising a flex circuit including a sensor system
US20210196363A1 (en) 2019-12-30 2021-07-01 Ethicon Llc Electrosurgical instrument with electrodes operable in bipolar and monopolar modes
US11937863B2 (en) 2019-12-30 2024-03-26 Cilag Gmbh International Deflectable electrode with variable compression bias along the length of the deflectable electrode
US11911063B2 (en) 2019-12-30 2024-02-27 Cilag Gmbh International Techniques for detecting ultrasonic blade to electrode contact and reducing power to ultrasonic blade
US11786294B2 (en) 2019-12-30 2023-10-17 Cilag Gmbh International Control program for modular combination energy device
US11779387B2 (en) 2019-12-30 2023-10-10 Cilag Gmbh International Clamp arm jaw to minimize tissue sticking and improve tissue control
US11452525B2 (en) 2019-12-30 2022-09-27 Cilag Gmbh International Surgical instrument comprising an adjustment system
US11696776B2 (en) 2019-12-30 2023-07-11 Cilag Gmbh International Articulatable surgical instrument
US11950797B2 (en) 2019-12-30 2024-04-09 Cilag Gmbh International Deflectable electrode with higher distal bias relative to proximal bias
US11707318B2 (en) 2019-12-30 2023-07-25 Cilag Gmbh International Surgical instrument with jaw alignment features
US11660089B2 (en) 2019-12-30 2023-05-30 Cilag Gmbh International Surgical instrument comprising a sensing system
US11786291B2 (en) 2019-12-30 2023-10-17 Cilag Gmbh International Deflectable support of RF energy electrode with respect to opposing ultrasonic blade
US11986201B2 (en) 2019-12-30 2024-05-21 Cilag Gmbh International Method for operating a surgical instrument
US20210196359A1 (en) 2019-12-30 2021-07-01 Ethicon Llc Electrosurgical instruments with electrodes having energy focusing features
US12023086B2 (en) 2019-12-30 2024-07-02 Cilag Gmbh International Electrosurgical instrument for delivering blended energy modalities to tissue
US11944366B2 (en) 2019-12-30 2024-04-02 Cilag Gmbh International Asymmetric segmented ultrasonic support pad for cooperative engagement with a movable RF electrode
US11464581B2 (en) 2020-01-28 2022-10-11 Globus Medical, Inc. Pose measurement chaining for extended reality surgical navigation in visible and near infrared spectrums
US11382699B2 (en) 2020-02-10 2022-07-12 Globus Medical Inc. Extended reality visualization of optical tool tracking volume for computer assisted navigation in surgery
JP6796346B1 (ja) 2020-02-12 2020-12-09 リバーフィールド株式会社 手術用ロボット
JP6875690B1 (ja) 2020-02-12 2021-05-26 リバーフィールド株式会社 手術ロボット、及び手術ロボットの制御ユニット
JP6807122B1 (ja) 2020-02-12 2021-01-06 リバーフィールド株式会社 手術ロボット、及び手術ロボットの制御ユニット
JP6754150B1 (ja) 2020-02-12 2020-09-09 リバーフィールド株式会社 手術用ロボット
US11207150B2 (en) 2020-02-19 2021-12-28 Globus Medical, Inc. Displaying a virtual model of a planned instrument attachment to ensure correct selection of physical instrument attachment
KR102375455B1 (ko) 2020-02-25 2022-03-18 중앙대학교 산학협력단 인공지능을 결합한 정면투시 적응형 초음파 시술장치 및 방법
CN113456229A (zh) * 2020-03-31 2021-10-01 北京图灵微创医疗科技有限公司 用于腹腔手术的机器人***
CN111568558B (zh) * 2020-04-13 2022-02-22 上海市胸科医院 电子设备、手术机器人***及其控制方法
US11253216B2 (en) 2020-04-28 2022-02-22 Globus Medical Inc. Fixtures for fluoroscopic imaging systems and related navigation systems and methods
US11607277B2 (en) 2020-04-29 2023-03-21 Globus Medical, Inc. Registration of surgical tool with reference array tracked by cameras of an extended reality headset for assisted navigation during surgery
US11510750B2 (en) 2020-05-08 2022-11-29 Globus Medical, Inc. Leveraging two-dimensional digital imaging and communication in medicine imagery in three-dimensional extended reality applications
US11382700B2 (en) 2020-05-08 2022-07-12 Globus Medical Inc. Extended reality headset tool tracking and control
US11153555B1 (en) 2020-05-08 2021-10-19 Globus Medical Inc. Extended reality headset camera system for computer assisted navigation in surgery
KR20230018456A (ko) 2020-06-02 2023-02-07 플렉스덱스 인코포레이티드 수술 도구 및 조립체
US11317973B2 (en) 2020-06-09 2022-05-03 Globus Medical, Inc. Camera tracking bar for computer assisted navigation during surgery
US11382713B2 (en) 2020-06-16 2022-07-12 Globus Medical, Inc. Navigated surgical system with eye to XR headset display calibration
US11877807B2 (en) 2020-07-10 2024-01-23 Globus Medical, Inc Instruments for navigated orthopedic surgeries
US11793588B2 (en) 2020-07-23 2023-10-24 Globus Medical, Inc. Sterile draping of robotic arms
US11737831B2 (en) 2020-09-02 2023-08-29 Globus Medical Inc. Surgical object tracking template generation for computer assisted navigation during surgical procedure
US12029522B2 (en) * 2020-09-23 2024-07-09 Verb Surgical Inc. Deep disengagement detection during telesurgery
US11523785B2 (en) 2020-09-24 2022-12-13 Globus Medical, Inc. Increased cone beam computed tomography volume length without requiring stitching or longitudinal C-arm movement
US11911112B2 (en) 2020-10-27 2024-02-27 Globus Medical, Inc. Robotic navigational system
US11013492B1 (en) * 2020-11-04 2021-05-25 Philip B. Kivitz Ultrasound sonographic imaging system and method
US11941814B2 (en) 2020-11-04 2024-03-26 Globus Medical Inc. Auto segmentation using 2-D images taken during 3-D imaging spin
US11717350B2 (en) 2020-11-24 2023-08-08 Globus Medical Inc. Methods for robotic assistance and navigation in spinal surgery and related systems
CN112451101B (zh) * 2020-11-30 2022-04-29 福建医科大学附属协和医院 超声可视化达芬奇智能机器人手术***
US11813746B2 (en) 2020-12-30 2023-11-14 Cilag Gmbh International Dual driving pinion crosscheck
CA3212211A1 (en) 2021-03-31 2022-10-06 David Paul Noonan Co-manipulation surgical system for use with surgical instruments for performing laparoscopic surgery
US11844583B2 (en) 2021-03-31 2023-12-19 Moon Surgical Sas Co-manipulation surgical system having an instrument centering mode for automatic scope movements
US11832909B2 (en) 2021-03-31 2023-12-05 Moon Surgical Sas Co-manipulation surgical system having actuatable setup joints
US11819302B2 (en) 2021-03-31 2023-11-21 Moon Surgical Sas Co-manipulation surgical system having user guided stage control
US11812938B2 (en) 2021-03-31 2023-11-14 Moon Surgical Sas Co-manipulation surgical system having a coupling mechanism removeably attachable to surgical instruments
WO2022241319A1 (en) * 2021-05-14 2022-11-17 Edda Technology, Inc. Method and system of model fusion for laparoscopic surgical guidance
US11857273B2 (en) 2021-07-06 2024-01-02 Globus Medical, Inc. Ultrasonic robotic surgical navigation
US11439444B1 (en) 2021-07-22 2022-09-13 Globus Medical, Inc. Screw tower and rod reduction tool
WO2023034123A1 (en) * 2021-09-01 2023-03-09 Duluth Medical Technologies, Inc. Ultrasonic sensor superposition
WO2023052932A1 (en) 2021-09-29 2023-04-06 Cilag Gmbh International Surgical sealing devices for a natural body orifice
WO2023052961A1 (en) 2021-09-29 2023-04-06 Cilag Gmbh International Surgical systems with port devices for instrument control
US20230100698A1 (en) 2021-09-29 2023-03-30 Cilag Gmbh International Methods for Controlling Cooperative Surgical Instruments
US11937798B2 (en) 2021-09-29 2024-03-26 Cilag Gmbh International Surgical systems with port devices for instrument control
WO2023052931A1 (en) 2021-09-29 2023-04-06 Cilag Gmbh International Surgical sealing systems for instrument stabilization
US20230098670A1 (en) * 2021-09-29 2023-03-30 Cilag Gmbh International Surgical devices, systems, and methods using multi-source imaging
US11911115B2 (en) 2021-12-20 2024-02-27 Globus Medical Inc. Flat panel registration fixture and method of using same
CN114041828B (zh) * 2022-01-13 2022-04-29 深圳瀚维智能医疗科技有限公司 超声扫查控制方法、机器人及存储介质
US12004821B2 (en) 2022-02-03 2024-06-11 Medtronic Navigation, Inc. Systems, methods, and devices for generating a hybrid image
US11717149B1 (en) 2022-04-27 2023-08-08 Maciej J. Kieturakis Methods and systems for robotic single-port laparoscopic access
US11986165B1 (en) 2023-01-09 2024-05-21 Moon Surgical Sas Co-manipulation surgical system for use with surgical instruments for performing laparoscopic surgery while estimating hold force
US11832910B1 (en) 2023-01-09 2023-12-05 Moon Surgical Sas Co-manipulation surgical system having adaptive gravity compensation

Family Cites Families (121)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5493595A (en) * 1982-02-24 1996-02-20 Schoolman Scientific Corp. Stereoscopically displayed three dimensional medical imaging
GB2136242B (en) * 1983-02-10 1986-04-09 Atomic Energy Authority Uk Superimposition in a video display system
US4672963A (en) 1985-06-07 1987-06-16 Israel Barken Apparatus and method for computer controlled laser surgery
US5086401A (en) * 1990-05-11 1992-02-04 International Business Machines Corporation Image-directed robotic system for precise robotic surgery including redundant consistency checking
DE69132412T2 (de) * 1990-10-19 2001-03-01 St. Louis University, St. Louis Lokalisierungssystem für eine chirurgische sonde zur anwendung am kopf
US5823958A (en) * 1990-11-26 1998-10-20 Truppe; Michael System and method for displaying a structural data image in real-time correlation with moveable body
US5181514A (en) 1991-05-21 1993-01-26 Hewlett-Packard Company Transducer positioning system
US5279309A (en) * 1991-06-13 1994-01-18 International Business Machines Corporation Signaling device and method for monitoring positions in a surgical operation
US5417210A (en) * 1992-05-27 1995-05-23 International Business Machines Corporation System and method for augmentation of endoscopic surgery
EP0776739B1 (de) 1992-01-21 2003-04-23 Sri International Chirurgisches System
US6963792B1 (en) * 1992-01-21 2005-11-08 Sri International Surgical method
US5335082A (en) * 1992-04-10 1994-08-02 Opton Corporation Method and apparatus for using monochrome images to form a color image
JPH05303327A (ja) * 1992-04-27 1993-11-16 Morita Mfg Co Ltd 医療用切削シミュレーション装置
US5482029A (en) * 1992-06-26 1996-01-09 Kabushiki Kaisha Toshiba Variable flexibility endoscope system
US5361768A (en) * 1992-06-30 1994-11-08 Cardiovascular Imaging Systems, Inc. Automated longitudinal position translator for ultrasonic imaging probes, and methods of using same
JPH06110543A (ja) 1992-09-30 1994-04-22 Nippon Telegr & Teleph Corp <Ntt> 直接教示装置
US5397323A (en) 1992-10-30 1995-03-14 International Business Machines Corporation Remote center-of-motion robot for surgery
US5788688A (en) * 1992-11-05 1998-08-04 Bauer Laboratories, Inc. Surgeon's command and control
US5876325A (en) 1993-11-02 1999-03-02 Olympus Optical Co., Ltd. Surgical manipulation system
US5842473A (en) * 1993-11-29 1998-12-01 Life Imaging Systems Three-dimensional imaging system
US6241725B1 (en) 1993-12-15 2001-06-05 Sherwood Services Ag High frequency thermal ablation of cancerous tumors and functional targets with image data assistance
JPH07184923A (ja) * 1993-12-28 1995-07-25 Hitachi Ltd 遠隔微細手術支援装置
JPH0819975A (ja) 1994-07-06 1996-01-23 Tokico Ltd ロボットの教示方法
US5765561A (en) * 1994-10-07 1998-06-16 Medical Media Systems Video-based surgical targeting system
JP3642812B2 (ja) 1994-11-17 2005-04-27 株式会社町田製作所 医療用観察装置
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
US6019724A (en) * 1995-02-22 2000-02-01 Gronningsaeter; Aage Method for ultrasound guidance during clinical procedures
US5836880A (en) * 1995-02-27 1998-11-17 Micro Chemical, Inc. Automated system for measuring internal tissue characteristics in feed animals
US5797849A (en) * 1995-03-28 1998-08-25 Sonometrics Corporation Method for carrying out a medical procedure using a three-dimensional tracking and imaging system
US5817022A (en) * 1995-03-28 1998-10-06 Sonometrics Corporation System for displaying a 2-D ultrasound image within a 3-D viewing environment
US5887121A (en) 1995-04-21 1999-03-23 International Business Machines Corporation Method of constrained Cartesian control of robotic mechanisms with active and passive joints
JP3986099B2 (ja) * 1995-05-02 2007-10-03 オリンパス株式会社 手術用マニピュレータシステム
US5551432A (en) * 1995-06-19 1996-09-03 New York Eye & Ear Infirmary Scanning control system for ultrasound biomicroscopy
US6702736B2 (en) * 1995-07-24 2004-03-09 David T. Chen Anatomical visualization system
US6256529B1 (en) * 1995-07-26 2001-07-03 Burdette Medical Systems, Inc. Virtual reality 3D visualization for surgical procedures
US5810007A (en) * 1995-07-26 1998-09-22 Associates Of The Joint Center For Radiation Therapy, Inc. Ultrasound localization and image fusion for the treatment of prostate cancer
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
US6642836B1 (en) * 1996-08-06 2003-11-04 Computer Motion, Inc. General purpose distributed operating room control system
JP3550966B2 (ja) * 1996-09-18 2004-08-04 株式会社日立製作所 手術装置
US5810008A (en) * 1996-12-03 1998-09-22 Isg Technologies Inc. Apparatus and method for visualizing ultrasonic images
US5853367A (en) * 1997-03-17 1998-12-29 General Electric Company Task-interface and communications system and method for ultrasound imager control
US6468212B1 (en) 1997-04-19 2002-10-22 Adalberto Vara User control interface for an ultrasound processor
US6714839B2 (en) * 1998-12-08 2004-03-30 Intuitive Surgical, Inc. Master having redundant degrees of freedom
US6325758B1 (en) * 1997-10-27 2001-12-04 Nomos Corporation Method and apparatus for target position verification
US6129670A (en) * 1997-11-24 2000-10-10 Burdette Medical Systems Real time brachytherapy spatial registration and visualization system
US5842993A (en) * 1997-12-10 1998-12-01 The Whitaker Corporation Navigable ultrasonic imaging probe assembly
US6360116B1 (en) * 1998-02-27 2002-03-19 Varian Medical Systems, Inc. Brachytherapy system for prostate cancer treatment with computer implemented systems and processes to facilitate pre-operative planning and post-operative evaluations
JP3582348B2 (ja) * 1998-03-19 2004-10-27 株式会社日立製作所 手術装置
US6425865B1 (en) * 1998-06-12 2002-07-30 The University Of British Columbia Robotically assisted medical ultrasound
US6383951B1 (en) 1998-09-03 2002-05-07 Micron Technology, Inc. Low dielectric constant material for integrated circuit fabrication
JP2000271147A (ja) * 1999-03-19 2000-10-03 Olympus Optical Co Ltd 遠隔手術支援システム
US6951535B2 (en) * 2002-01-16 2005-10-04 Intuitive Surgical, Inc. Tele-medicine system that transmits an entire state of a subsystem
US6659939B2 (en) * 1998-11-20 2003-12-09 Intuitive Surgical, Inc. Cooperative minimally invasive telesurgical system
US6459926B1 (en) * 1998-11-20 2002-10-01 Intuitive Surgical, Inc. Repositioning and reorientation of master/slave relationship in minimally invasive telesurgery
US6799065B1 (en) * 1998-12-08 2004-09-28 Intuitive Surgical, Inc. Image shifting apparatus and method for a telerobotic system
US6493608B1 (en) * 1999-04-07 2002-12-10 Intuitive Surgical, Inc. Aspects of a control system of a minimally invasive surgical apparatus
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
US6193657B1 (en) * 1998-12-31 2001-02-27 Ge Medical Systems Global Technology Company, Llc Image based probe position and orientation detection
US6602185B1 (en) * 1999-02-18 2003-08-05 Olympus Optical Co., Ltd. Remote surgery support system
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
WO2001001859A1 (en) 1999-04-21 2001-01-11 Auckland Uniservices Limited Method and system of measuring characteristics of an organ
US6167297A (en) * 1999-05-05 2000-12-26 Benaron; David A. Detecting, localizing, and targeting internal sites in vivo using optical contrast agents
US7363071B2 (en) * 1999-05-26 2008-04-22 Endocare, Inc. Computer guided ablation of tissue using integrated ablative/temperature sensing devices
JP3668865B2 (ja) * 1999-06-21 2005-07-06 株式会社日立製作所 手術装置
EP1210684A4 (de) 1999-08-09 2003-04-23 Univ Wake Forest Computerisiertes verfahren zur erstellung von multimedialen elektronischen berichten
US6379302B1 (en) * 1999-10-28 2002-04-30 Surgical Navigation Technologies Inc. Navigation information overlay onto ultrasound imagery
JP4377495B2 (ja) * 1999-10-29 2009-12-02 株式会社東芝 超音波診断装置
WO2001043640A2 (en) * 1999-12-15 2001-06-21 Koninklijke Philips Electronics N.V. Diagnostic imaging system with ultrasound probe
AU2001243237A1 (en) * 2000-02-25 2001-09-03 The Board Of Trustees Of The Leland Stanford Junior University Methods and apparatuses for maintaining a trajectory in sterotaxi for tracking a target inside a body
US6725080B2 (en) * 2000-03-01 2004-04-20 Surgical Navigation Technologies, Inc. Multiple cannula image guided tool for image guided procedures
US20030022054A1 (en) * 2000-03-03 2003-01-30 Didier Marsacq Method for preparing electrode-membrane assemblies, resulting assemblies and fuel cells comprising same
DE10015826A1 (de) * 2000-03-30 2001-10-11 Siemens Ag System und Verfahren zur Erzeugung eines Bildes
US6440072B1 (en) * 2000-03-30 2002-08-27 Acuson Corporation Medical diagnostic ultrasound imaging system and method for transferring ultrasound examination data to a portable computing device
US6599247B1 (en) * 2000-07-07 2003-07-29 University Of Pittsburgh System and method for location-merging of real-time tomographic slice images with human vision
US6447453B1 (en) * 2000-12-07 2002-09-10 Koninklijke Philips Electronics N.V. Analysis of cardiac performance using ultrasonic diagnostic images
JP2002318162A (ja) * 2001-02-01 2002-10-31 Canon Inc 異常の検知方法および保護装置、並びに、温度の推定方法および推定装置
JP2002253574A (ja) * 2001-03-01 2002-09-10 Hitachi Ltd 手術支援装置
JP3769469B2 (ja) * 2001-03-28 2006-04-26 株式会社東芝 操作訓練用装置
US6862561B2 (en) * 2001-05-29 2005-03-01 Entelos, Inc. Method and apparatus for computer modeling a joint
US6887245B2 (en) * 2001-06-11 2005-05-03 Ge Medical Systems Global Technology Company, Llc Surgical drill for use with a computer assisted surgery system
JP3579379B2 (ja) * 2001-08-10 2004-10-20 株式会社東芝 医療用マニピュレータシステム
EP2481338A3 (de) * 2001-09-25 2012-09-05 Nuvasive, Inc. System zur Durchführung chirurgischer Eingriffe und Beurteilungen
WO2003039370A1 (en) * 2001-11-05 2003-05-15 Computerized Medical Systems, Inc. Apparatus and method for registration, guidance, and targeting of external beam radiation therapy
JP3529373B2 (ja) * 2001-11-09 2004-05-24 ファナック株式会社 作業機械のシミュレーション装置
US7831292B2 (en) * 2002-03-06 2010-11-09 Mako Surgical Corp. Guidance system and method for surgical procedures with improved feedback
US7285117B2 (en) 2002-03-15 2007-10-23 Boston Scientific Scimed, Inc. Medical device control systems
JP4056791B2 (ja) * 2002-05-22 2008-03-05 策雄 米延 骨折整復誘導装置
EP2070487B1 (de) * 2002-08-13 2014-03-05 NeuroArm Surgical, Ltd. Mikrochirurgisches Robotersystem
JP2004105638A (ja) * 2002-09-20 2004-04-08 Shimadzu Corp 超音波診断装置
US6685642B1 (en) * 2002-10-03 2004-02-03 Koninklijke Philips Electronics N.V. System and method for brightening a curve corresponding to a selected ultrasound ROI
KR20050059245A (ko) * 2002-10-07 2005-06-17 노모스 코포레이션 타겟 위치 확인 방법 및 장치
CN1410031A (zh) * 2002-11-21 2003-04-16 上海交通大学 高强度聚焦超声手术中的立体定位***
JP2004174662A (ja) * 2002-11-27 2004-06-24 Fanuc Ltd ロボットの動作状態解析装置
US7319897B2 (en) * 2002-12-02 2008-01-15 Aesculap Ag & Co. Kg Localization device display method and apparatus
JP2004223128A (ja) * 2003-01-27 2004-08-12 Hitachi Ltd 医療行為支援装置および方法
US7369164B2 (en) * 2003-04-11 2008-05-06 Eastman Kodak Company Using favorite digital images to organize and identify electronic albums
US7381183B2 (en) * 2003-04-21 2008-06-03 Karl Storz Development Corp. Method for capturing and displaying endoscopic maps
US7103399B2 (en) * 2003-09-08 2006-09-05 Vanderbilt University Apparatus and methods of cortical surface registration and deformation tracking for patient-to-image alignment in relation to image-guided surgery
US7457672B2 (en) * 2003-09-10 2008-11-25 General Electric Company Method and apparatus for exporting ultrasound data
JP2005110878A (ja) * 2003-10-06 2005-04-28 Olympus Corp 手術支援システム
US20050085718A1 (en) * 2003-10-21 2005-04-21 Ramin Shahidi Systems and methods for intraoperative targetting
EP1680024A2 (de) * 2003-10-21 2006-07-19 The Board Of Trustees Of The Leland Stanford Junior University Systeme und verfahren für das intraoperative targetting
JP4263579B2 (ja) * 2003-10-22 2009-05-13 アロカ株式会社 超音波診断装置
US20050089205A1 (en) * 2003-10-23 2005-04-28 Ajay Kapur Systems and methods for viewing an abnormality in different kinds of images
US8211017B2 (en) * 2003-12-16 2012-07-03 University Of Washington Image guided high intensity focused ultrasound treatment of nerves
US20050187472A1 (en) * 2004-01-30 2005-08-25 Peter Lysyansky Protocol-driven ultrasound examination
US9615772B2 (en) 2004-02-20 2017-04-11 Karl Storz Imaging, Inc. Global endoscopic viewing indicator
US20050267359A1 (en) * 2004-05-27 2005-12-01 General Electric Company System, method, and article of manufacture for guiding an end effector to a target position within a person
EP1769390B1 (de) 2004-06-04 2014-12-03 Stereotaxis, Inc. Benutzeroberfläche zur fernbedienung medizinischer einrichtungen
US20050281444A1 (en) * 2004-06-22 2005-12-22 Vidar Lundberg Methods and apparatus for defining a protocol for ultrasound imaging
US10555775B2 (en) * 2005-05-16 2020-02-11 Intuitive Surgical Operations, Inc. Methods and system for performing 3-D tool tracking by fusion of sensor and/or camera derived data during minimally invasive robotic surgery
CN101193603B (zh) 2005-06-06 2010-11-03 直观外科手术公司 腹腔镜的超声机器人外科手术***
US11259870B2 (en) 2005-06-06 2022-03-01 Intuitive Surgical Operations, Inc. Interactive user interfaces for minimally invasive telesurgical systems
US8398541B2 (en) * 2006-06-06 2013-03-19 Intuitive Surgical Operations, Inc. Interactive user interfaces for robotic minimally invasive surgical systems
US7835785B2 (en) * 2005-10-04 2010-11-16 Ascension Technology Corporation DC magnetic-based position and orientation monitoring system for tracking medical instruments
CA2630061C (en) * 2005-11-15 2015-03-17 Johns Hopkins University An active cannula for bio-sensing and surgical intervention
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
US8155479B2 (en) * 2008-03-28 2012-04-10 Intuitive Surgical Operations Inc. Automated panning and digital zooming for robotic surgical systems
US8267853B2 (en) * 2008-06-23 2012-09-18 Southwest Research Institute System and method for overlaying ultrasound imagery on a laparoscopic camera display
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
WO2010048160A2 (en) * 2008-10-20 2010-04-29 The Johns Hopkins University Environment property estimation and graphical display

Also Published As

Publication number Publication date
EP2289452A2 (de) 2011-03-02
JP2013252452A (ja) 2013-12-19
JP4999012B2 (ja) 2012-08-15
EP2289454A3 (de) 2015-12-30
EP2289454B1 (de) 2020-03-25
JP2008541990A (ja) 2008-11-27
US10646293B2 (en) 2020-05-12
CN101193603A (zh) 2008-06-04
KR20080027224A (ko) 2008-03-26
JP2012050887A (ja) 2012-03-15
EP2289453B1 (de) 2015-08-05
US20220354603A1 (en) 2022-11-10
JP2014138901A (ja) 2014-07-31
EP2289453A2 (de) 2011-03-02
JP5455173B2 (ja) 2014-03-26
WO2007030173A1 (en) 2007-03-15
JP2012055717A (ja) 2012-03-22
EP1887961B1 (de) 2012-01-11
US11717365B2 (en) 2023-08-08
US20070021738A1 (en) 2007-01-25
US11399909B2 (en) 2022-08-02
US20170128041A1 (en) 2017-05-11
JP2012050888A (ja) 2012-03-15
US10603127B2 (en) 2020-03-31
EP2289454A2 (de) 2011-03-02
JP2016041377A (ja) 2016-03-31
KR101258912B1 (ko) 2013-04-30
US20230338101A1 (en) 2023-10-26
US20200163732A1 (en) 2020-05-28
EP2289453A3 (de) 2014-03-19
EP3679882A1 (de) 2020-07-15
CN101193603B (zh) 2010-11-03
US20170128145A1 (en) 2017-05-11
US20170128144A1 (en) 2017-05-11
EP2289452A3 (de) 2015-12-30
JP6138227B2 (ja) 2017-05-31
EP1887961A1 (de) 2008-02-20

Similar Documents

Publication Publication Date Title
ATE540634T1 (de) Laparoskopisches ultraschall-robotersystem für chirurgische zwecke
US20120271173A1 (en) Automatic ultrasonic scanning system and scanning method thereof
US10959794B2 (en) Robotically controlling remote center of motion with software and guide tube
US20150320514A1 (en) Surgical robots and control methods thereof
US8971597B2 (en) Efficient vision and kinematic data fusion for robotic surgical instruments and other applications
US9314309B2 (en) Surgical robot and method of controlling the same
US9101267B2 (en) Method of real-time tracking of moving/flexible surfaces
Leven et al. DaVinci canvas: a telerobotic surgical system with integrated, robot-assisted, laparoscopic ultrasound capability
RU2014127126A (ru) Роботизированное направление ультразвукового зонда приэндоскопической хирургии
Chen et al. Review of surgical robotic systems for keyhole and endoscopic procedures: state of the art and perspectives
US11258964B2 (en) Synthesizing spatially-aware transitions between multiple camera viewpoints during minimally invasive surgery
US20230000565A1 (en) Systems and methods for autonomous suturing
KR20160138142A (ko) 시계 내의 기기들의 정량적 3차원 시각화
JP2021531910A (ja) ロボット操作手術器具の位置を追跡システムおよび方法
CA2827927A1 (en) Surgical robot system for performing surgery based on displacement information determined by user indication and method for controlling the same
WO2021030536A1 (en) Robotic surgical methods and apparatuses
EP3690810B1 (de) Verfahren zur anzeige einer tumorposition in endoskopischen bildern
JP6218631B2 (ja) マニピュレータ装置の作動方法
Kim et al. Feasibility of photoacoustic image guidance for telerobotic endonasal transsphenoidal surgery
Dumpert et al. Semi-autonomous surgical tasks using a miniature in vivo surgical robot
CN115443108A (zh) 手术程序指导***
CN115697235A (zh) 使用增强现实的远程外科指导
Eslamian et al. An autonomous camera system using the da vinci research kit
Mohareri et al. da Vinci® auxiliary arm as a robotic surgical assistant for semi-autonomous ultrasound guidance during robot-assisted laparoscopic surgery
JP2020058672A (ja) ロボット手術支援装置、ロボット手術支援方法、及びプログラム