CN107072673A - 用于在骨组织中制备孔的防滑手术器械 - Google Patents
用于在骨组织中制备孔的防滑手术器械 Download PDFInfo
- Publication number
- CN107072673A CN107072673A CN201580043738.9A CN201580043738A CN107072673A CN 107072673 A CN107072673 A CN 107072673A CN 201580043738 A CN201580043738 A CN 201580043738A CN 107072673 A CN107072673 A CN 107072673A
- Authority
- CN
- China
- Prior art keywords
- operating theater
- theater instruments
- skidding
- bone tissue
- guide part
- Prior art date
- Legal status (The legal status 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 status listed.)
- Pending
Links
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/16—Bone cutting, breaking or removal means other than saws, e.g. Osteoclasts; Drills or chisels for bones; Trepans
- A61B17/1613—Component parts
- A61B17/1615—Drill bits, i.e. rotating tools extending from a handpiece to contact the worked material
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/16—Bone cutting, breaking or removal means other than saws, e.g. Osteoclasts; Drills or chisels for bones; Trepans
- A61B17/1613—Component parts
- A61B17/162—Chucks or tool parts which are to be held in a chuck
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/16—Bone cutting, breaking or removal means other than saws, e.g. Osteoclasts; Drills or chisels for bones; Trepans
- A61B17/1613—Component parts
- A61B17/1622—Drill handpieces
- A61B17/1624—Drive mechanisms therefor
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/16—Bone cutting, breaking or removal means other than saws, e.g. Osteoclasts; Drills or chisels for bones; Trepans
- A61B2017/1602—Mills
-
- 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
- A61B2090/033—Abutting means, stops, e.g. abutting on tissue or skin
- A61B2090/034—Abutting means, stops, e.g. abutting on tissue or skin abutting on parts of the device itself
- A61B2090/035—Abutting means, stops, e.g. abutting on tissue or skin abutting on parts of the device itself preventing further rotation
-
- 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
- A61B90/39—Markers, e.g. radio-opaque or breast lesions markers
- A61B2090/3983—Reference marker arrangements for use with image guided 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
- A61B34/30—Surgical robots
Landscapes
- Health & Medical Sciences (AREA)
- Surgery (AREA)
- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Biomedical Technology (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- General Health & Medical Sciences (AREA)
- Heart & Thoracic Surgery (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- Dentistry (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Orthopedic Medicine & Surgery (AREA)
- Robotics (AREA)
- Surgical Instruments (AREA)
Abstract
本文描述一种用于在骨组织中制备孔的防滑手术器械。所揭示的手术器械提供在手术(例如，脊柱手术及椎弓根螺钉放置、髓内螺钉放置)期间在骨组织中制备精确孔的能力。无论钻轴与所述骨组织的表面之间的角度是否垂直，所揭示的手术器械均实现精确孔放置。所揭示的技术包含平坦的钻孔表面，其垂直于所述手术器械的主体的表面。这减小所述手术器械在所述骨组织的所述表面上打滑的可能性且由此增加所述孔的精确性。
Description
优先权申请案
本申请案主张2014年7月14日申请的标题为“用于在骨组织中制备孔的防滑手术器械(Anti-Skid Surgical Instrument for use in Preparing Holes in BoneTissue)”的第62/024,402号美国临时专利申请案的优先权及权益，所述美国临时专利申请案以全文引用的方式并入本文中。
技术领域
本发明涉及用于在手术期间在骨组织中制备孔的防滑手术器械。
背景技术
脊柱手术通常需要在骨组织中进行精确钻孔及放置螺钉或其它器具。归因于脊髓及动脉的接近性，在脊柱手术期间灾难性损坏或死亡可起因于对身体的不当钻孔或操纵。此外，准确的放置对成功的结果来说通常是必要的。举例来说，脊柱融合通常通过使用固定装置(例如，金属螺钉、杆及板)使脊椎稳定以促进骨融合来增强。在脊柱融合以及其它手术中，螺钉放置于骨中的准确性对过程的结果具有直接影响。试图治愈的两个骨之间存在的运动越小，骨将成功融合的变化越高。固定装置的使用极大地增加了脊柱融合过程的成功率。
此类过程主要依赖于外科医生的专业技能，且在不同的外科医生之间成功率存在显著变化。已开发出若干导航及验证方法。然而，螺钉的错误放置在此类手术过程中仍是常见的问题。螺钉可归因于在插入螺钉之前钻出的不准确的孔而未对准。钻的尖端的角可致使钻头在所述尖端接触骨组织时打滑，由此致使沿着不正确的轨迹钻孔。通常，除非骨钻相对于骨表面以90度被驱动，否则存在钻头在骨表面上方打滑的趋势，由此不适当地放置孔。因此，需要一种用于手术器械，其用于在患者的骨中制备孔同时最小化所述器械在所述手术器械与骨接触之后打滑的风险。
发明内容
本文描述一种用于在骨组织中制备孔的防滑手术器械。所揭示的手术器械提供在手术(例如，脊柱手术及椎弓根螺钉放置、髓内螺钉放置)期间在骨组织中制备精确孔的能力。无论钻轴与骨组织的表面之间的角度是否垂直，所揭示的手术器械均实现精确孔放置。所揭示的技术包含平坦的钻孔表面，其垂直于所述手术器械的主体的表面。这减小所述手术器械在所述骨组织的表面上打滑的可能性且由此增加所述孔的精确性。
一方面，所揭示的技术包含一种用于在手术期间在患者的骨组织中制备孔的防滑手术器械。在某些实施例中，所述防滑手术器械具有细长结构，其包含：处于所述细长结构的端处的铣削头，其用于在所述防滑手术器械与所述骨组织接触之后所述手术器械的打滑(例如，所述手术器械的非故意横向移动)减小的情况下移除骨组织，其中所述铣削头具有大体上垂直于所述细长结构的纵轴的平坦端以及围绕所述细长结构的所述纵轴的用于切入到骨组织中的一或多个侧切槽；用于连接到钻的柄；及所述铣削头与所述柄之间的轴件，所述轴件具有用于排出移除的骨组织的一或多个钻槽(例如，非切槽)。
在某些实施例中，所述铣削头的所述平坦端具有用于轴向切入到所述骨组织中的一或多个端切槽。
在某些实施例中，所述一或多个钻槽不同于所述一或多个侧切槽。
在某些实施例中，所述一或多个钻槽包含两个、三个、四个、六个、八个、十个或二十个槽。
在某些实施例中，一或多个侧切槽包含两个、三个、四个、六个、八个、十个或二十个槽。
在某些实施例中，所述轴件的纵长大于所述铣削头的纵长。
在某些实施例中，所述轴件的纵长大于所述柄的纵长。
在某些实施例中，所述一或多个钻槽具有高于所述一或多个侧切槽的扭转速率(即，较大槽角)。
在某些实施例中，所述一或多个钻槽具有低于所述一或多个侧切槽的扭转速率(即，较小槽角)。
在某些实施例中，所述一或多个钻槽具有不同于所述一或多个侧切槽的扭转速率(即，不同槽角)。
在某些实施例中，所述手术是脊柱手术、矫形手术、牙科手术、耳科手术、鼻部手术或喉部手术。
在某些实施例中，所述防滑手术器械可插入到手术器械引导件中，使得所述手术器械由所述手术器械引导件约束。
在某些实施例中，所述手术器械引导件包含刚性中空管状结构，其具有第一开口端及第二开口端，所述结构界定所述管状结构的轴，沿着所述轴限制手术器械滑动通过所述结构的移动，其中所述管状结构具有内表面，其经塑形及设定大小以容纳滑动通过所述引导件的所述防滑手术器械，使得所述防滑手术器械(例如，其配有工具支架)的移动在除沿着由所述引导件界定的所述轴外的全部方向上受约束。
在某些实施例中，所述防滑手术器械配有工具支架，所述工具支架经塑形及设定大小以沿着由所述引导件所界定的所述轴滑动通过所述手术器械引导件。
在某些实施例中，所述防滑手术器械是钻头，且所述手术器械引导件是钻头引导件。
在某些实施例中，所述防滑手术器械经配置以由包括机器人臂的机器人手术系统引导。
在某些实施例中，所述机器人臂具有端效应器，其包括被附接到其的手术器械引导件，所述手术器械引导件经配置以固持及/或限制手术器械通过其的移动。
在某些实施例中，导航标记由导航摄像机使用以跟踪所述防滑手术器械。
在某些实施例中，所述手术器械引导件经配置以用于引导螺钉植入物及组织保护器。
在某些实施例中，操纵器被附接到所述机器人臂。
在某些实施例中，所述操纵器被模制到所述机器人臂中。
在某些实施例中，所述手术器械引导件的所述轴可经由所述操纵器与关于所述患者情形所期望的轨迹对准。
另一方面，所揭示的技术包含一种使用防滑手术器械在患者的骨组织中制备孔来执行手术的方法。在某些实施例中，所述方法包含：操纵所述防滑手术器械以在所述患者的所述骨组织中制备所述孔，其中所述防滑手术器械具有细长结构，其包含：处于所述细长结构的所述端处的铣削头，其用于在所述防滑手术器械与所述骨组织接触之后所述手术器械的打滑(例如，所述手术器械的非故意横向移动)减小的情况下移除骨组织，其中所述铣削头具有大体上垂直于所述细长结构的纵轴的平坦端以及围绕所述细长结构的所述纵轴的用于切入到骨组织中的一或多个侧切槽；用于连接到钻的柄；以及所述铣削头与所述柄之间的轴件，所述轴件具有用于排出被移除的骨组织的一或多个钻槽(例如，非切槽)。
在某些实施例中，操纵所述防滑手术器械包含：将所述手术器械插入到手术器械引导件中，使得所述手术器械由所述手术器械引导件约束。
在某些实施例中，所述手术器械引导件包括刚性中空管状结构，其具有第一开口端及第二开口端，所述结构界定所述管状结构的轴，沿着所述轴限制手术器械滑动通过所述结构的移动，其中所述管状结构具有内表面，其经塑形及设定大小以容纳滑动通过所述引导件的所述防滑手术器械，使得所述防滑手术器械(例如，其配有工具支架)的移动在除沿着由所述引导件界定的所述轴外的全部方向上受约束。
在某些实施例中，所述防滑手术器械配有工具支架，其经塑形及设定大小以沿着由所述引导件界定的所述轴滑动通过所述手术器械引导件。
在某些实施例中，所述防滑手术器械是钻头，且所述手术器械引导件是钻头引导件。
在某些实施例中，所述防滑手术器械用于脊柱手术、矫形手术、牙科手术、耳科手术、鼻部手术及喉部手术中的至少一者。
在某些实施例中，所述防滑手术器械由包含机器人臂的机器人手术系统引导。
在某些实施例中，所述机器人臂具有端效应器，其包含被附接到其的手术器械引导件，所述手术器械引导件经配置以固持及/或限制手术器械通过其的移动。
在某些实施例中，所述方法包含固定所述机器人臂的所述位置(且，因此，固定所述手术器械引导件的位置)。
在某些实施例中，导航标记由导航摄像机使用以跟踪所述防滑手术器械。
在某些实施例中，所述方法包含：获得或存取患者情形的CT扫描、3D CT扫描、荧光镜检查、3D荧光镜检查或基于自然标记点的图像。
在某些实施例中，操纵器被附接到所述机器人臂。
在某些实施例中，所述操纵器被模制到所述机器人臂中。
在某些实施例中，所述轴可经由所述操纵器与关于所述患者情形所期望的轨迹对准。
在某些实施例中，所述铣削头的所述平坦端具有用于轴向切入到所述骨组织中的一或多个端切槽。
在某些实施例中，所述一或多个钻槽不同于所述一或多个侧切槽。
在某些实施例中，所述一或多个钻槽包含两个、三个、四个、六个、八个、十个或二十个槽。
在某些实施例中，一或多个侧切槽包含两个、三个、四个、六个、八个、十个或二十个槽。
在某些实施例中，所述轴件的纵长大于所述铣削头的纵长。
在某些实施例中，所述轴件的纵长大于所述柄的纵长。
在某些实施例中，所述一或多个钻槽具有高于所述一或多个侧切槽的扭转速率(即，较大槽角)。
在某些实施例中，所述一或多个钻槽具有低于所述一或多个侧切槽的扭转速率(即，较小槽角)。
在某些实施例中，所述一或多个钻槽具有不同于所述一或多个侧切槽的扭转速率(即，不同槽角)。
附图说明
通过参考结合附图进行的以下描述，将更加明白且更好地理解本发明的前述及其它目标、方面、特征及优点，其中：
图1是用于在骨组织中制备孔的实例钻头的说明；以及
图2是用于在骨组织中制备孔的实例手术器械的说明。
当结合图式时，从下文陈述的详细描述将更加明白本发明的特征及优点，其中相似的参考字符识别全文的对应元件。在图示中，相似的参考数字大体上指示相同、功能类似及/或结构类似的元件。
具体实施方式
本文描述一种用于在骨组织中制备孔的防滑手术器械。在某些类型的手术(例如，脊柱手术及椎弓根螺钉放置、髓内螺钉放置)中，有必要在骨组织中制备精确孔；然而，在许多实例中，人体解剖学不能良好地适用于在这些区域中钻孔，这是因为钻轴与骨的表面之间的角度不垂直。所揭示的技术提供通过最小化手术器械在接触骨组织时打滑的可能性来在骨组织中精确地制备孔。
如本文中使用，短语“在骨组织中制备孔”涵盖对骨组织及/或骨状组织进行铣削、钻孔、研磨及/或切割。“孔”涵盖任何空腔、凹痕或凹陷。
图1是实例现有技术钻头102及104及实例手术器械引导件106的说明。通常，手术器械包含变窄成为点116的锥形端114。点116用于引导钻头。标准手术器械，尤其是钻头可能会在骨组织的表面上打滑，这显著降低孔的精确性。打滑可能与钻角α有关，钻角α不能很好地适于相对于骨组织表面成某一角度(其不同于直角)进行钻孔。考虑到多数骨的表面并非完全平坦，所以标准钻头通常导致骨中的不精确孔。举例来说，如果钻的侧(例如，钻的锥形尖端114的侧)在钻头的尖端116已进入组织并提供引导之前触碰骨组织，那么更可能发生钻打滑。
图2是接触骨组织208的表面的三个钻头的比较。如图2中所展示，钻头202很可能打滑，这是因为钻头202的尖端216a将不会首先接触骨组织208的表面。相反，锥形尖端的侧214a将在尖端216a之前接触骨组织208。相比之下，钻头204的尖端216a较不可能打滑，这是因为钻头204的尖端216b首先接触骨组织208。然而，难以预测钻头在手术期间是否将打滑及何时将打滑的原因中的一者是难以确定钻头的尖端是否将首先接触骨组织208。如图2中所展示的防滑手术器械206减小钻头打滑的风险，这是因为“尖端”是垂直于手术器械的主体的表面的平坦的铣削表面218。防滑手术器械206的铣削头210适于在进入骨组织208时进行铣削(例如，而非钻孔)。在一些实施方案中，头210后面的器械主体212的部分适于进行钻孔(例如，其含有排出孔、螺线、螺旋线等等)。
在一些实施方案中，防滑手术器械206具有处于细长结构的端处的用于在所述防滑手术器械与所述骨组织208接触之后所述手术器械的打滑(例如，所述手术器械的非故意横向移动)减小的情况下移除骨组织的铣削头210。铣削头210具有大体上垂直于细长结构的纵轴的平坦的端218。在一些实施方案中，铣削头210具有围绕所述细长结构的纵轴的用于切入到骨组织中的一或多个侧切槽220(例如，经尖锐化的)。一或多个侧切槽220可包含两个、三个、四个、六个、八个、十个或二十个槽。
在一些实施方案中，防滑手术器械206具有用于连接到钻的柄(未展示)。在一些实施方案中，防滑手术器械206在铣削头210与所述柄之间具有轴件212，轴件212具有用于排出被移除的骨组织的一或多个钻槽224(例如，非切槽；比如，未经尖锐化的槽)。在一些实施方案中，一或多个钻槽224包含两个、三个、四个、六个、八个、十个或二十个槽。一或多个钻槽224不同于一或多个侧切槽220。举例来说，钻槽224可具有不同于(例如，大于或小于)侧切槽220的扭转速率(例如，槽角)。
在一些实施方案中，铣削头210的平坦的端218具有用于轴向地切入到骨组织中的一或多个端切槽(未展示)。在一些实施方案中，一或多个端切槽是切削齿。另外，在一些实施方案中，轴件的纵长大于铣削头的纵长。在一些实施方案中，轴件的纵长小于铣削头的纵长。
如图2中所展示，防滑手术器械206具有细长结构，所述细长结构包括具有铣削表面218的铣削头210、具有钻表面的轴件212。在一些实施方案中，器械206包含与第一端210相对的第二端，其具有经配置以由钻抓握的柄。防滑手术器械206的铣削头210是平坦的，且大体上垂直于细长结构的表面，由此减小手术器械206在铣削表面218与骨组织208接触之后的打滑(例如，手术器械206的非故意横向移动)。
在一些实施方案中，铣削端210利用旋切机来移除材料。铣削端210可采用若干形状及大小的形式。举例来说，铣削端210可为端铣刀、平板铣刀或其它类型的铣削装置。
在一些实施方案中，铣削头210的槽是在刀具上延伸的深螺旋形凹槽，而沿着槽220的边缘的尖锐刀片被称为齿。所述齿切割材料，且此材料的碎屑通过刀具的旋转朝槽220被向上提拉。在一些实施方案中，每个槽存在一个齿。在一些实施方案中，每个槽存在两个或两个以上齿。举例来说，每一槽220的刀具可具有2、3、4、5或5个以上齿(例如，1到4、5到10或10到20个齿)。通常，刀具具有的齿越多，其可移除材料的速度就越快。因此，通常，4齿刀具可以2齿刀具的两倍速率移除材料。铣削头210可为在铣削端210的一个端(即，平坦的端218)及侧220上具有切割齿的端铣刀。举例来说，平坦的端218可为平坦的底部刀具。
在一些实施方案中，手术器械206被刚性引导(例如，由机器人手术系统进行引导)。手术器械206可在进入骨组织208时引起更高的径向力，因此，刚性引导件保证孔将被准确地放置。在一些实施方案中，结合手术器械206使用的钻足够刚性以避免钻本身的偏转。高旋转速度钻(例如，电钻)可用于减小径向力。
在一些实施方案中，手术器械206与机器人手术系统(例如，2014年4月30日申请且标题为用于手术工具的精确引导的设备、系统及方法(Apparatus,Systems,and Methodsfor Precise Guidance of Surgical Tools)的第14/266,769号美国专利申请案中描述的机器人手术系统，所述美国专利申请案特此以全文引用的方式并入)组合使用。在一些实施方案中，手术器械206结合无源臂或提供对手术器械206的刚性固定的任何装置使用。手术器械206可插入到手术器械引导件中，使得手术器械206由手术器械引导件约束。手术器械引导件可包含刚性中空管状结构，其具有第一开口端及第二开口端。引导件的结构可界定轴，沿着所述轴限制手术器械滑动通过所述结构的移动。管状结构可具有内表面，其经塑形及设定大小以容纳滑动通过引导件的防滑手术器械206，使得手术器械206(例如，其配有工具支架)的移动在除沿着由引导件界定的轴外的全部方向上受约束。手术器械206可配有或具有集成工具支架，使得工具支架啮合引导件以提供对手术器械206的准确引导。举例来说，防滑手术器械206可被配有工具支架，所述工具支架经塑形及设定大小以沿着由引导件界定的轴滑动通过手术器械引导件。
在其中手术器械206由机器人手术系统进行引导的实例中，机器人手术系统可包含机器人臂。在一些实施方案中，机器人臂具有端效应器，其包含附接到其的手术器械引导件，所述手术器械引导件经配置以固持及/或限制手术器械通过其的移动。导航标记可用于跟踪手术器械206。手术器械引导件的轴可经由操纵器与关于患者情形所期望的轨迹对准。
在一些实施方案中，鉴于本文描述的系统及方法的所述结构、功能及设备，提供一种用于结合机器人手术系统执行手术的系统及方法。已描述用于支撑机器人手术系统的方法及设备的某些实施方案，所属领域的技术人员现将明白，可使用并入本发明的概念的其它实施方案。因此，本发明不应限于某些实施方案，而仅应由所附权利要求书的精神及范围限制。
贯穿所述描述，在设备及系统被描述为具有、包含或包括特定组件的情况下或在过程及方法被描述为具有、包含或包括特定步骤的情况下，应预期，另外存在基本上由或由所述组件组成的所揭示的技术的设备及系统，且存在根据所揭示的技术的基本上由或由所述处理步骤组成的过程及方法。
应理解，步骤的顺序或用于执行某些动作的顺序是不重要的，只要所揭示的技术维持可操作。此外，可同时进行两个或两个以上步骤或动作。
所除非技术上不兼容，否则所描述的本发明的各种实施例可结合其它实施例中的一或多者使用。
本文描述一种用于在骨组织中制备孔的防滑手术器械。所揭示的手术器械提供在手术(例如，脊柱手术及椎弓根螺钉放置、髓内螺钉放置)期间在骨组织中制备精确孔的能力。无论钻轴与所述骨组织的表面之间的角度是否垂直，所揭示的手术器械均实现精确孔放置。所揭示的技术包含平坦的钻孔表面，其垂直于所述手术器械的主体的所述表面。这减小所述手术器械在所述骨组织的所述表面上打滑的可能性且由此增加所述孔的精确性。
Claims (45)
1.一种用于在手术期间在患者的骨组织中制备孔的防滑手术器械，所述防滑手术器械具有细长结构，其包括：
处于所述细长结构的端处的铣削头，其用于在所述防滑手术器械与所述骨组织接触之后所述手术器械的打滑(例如，所述手术器械的非故意横向移动)减小的情况下移除骨组织，其中所述铣削头具有大体上垂直于所述细长结构的纵轴的平坦端以及围绕所述细长结构的所述纵轴的用于切入到骨组织中的一或多个侧切槽；
用于连接到钻的柄；以及
所述铣削头与所述柄之间的轴件，所述轴件具有用于排出被移除的骨组织的一或多个钻槽(例如，非切槽)。
2.根据权利要求1所述的防滑手术器械，其中所述铣削头的所述平坦端具有用于轴向切入到所述骨组织中的一或多个端切槽。
3.根据权利要求1或2所述的防滑手术器械，其中所述一或多个钻槽不同于所述一或多个侧切槽。
4.根据权利要求1到3中任一权利要求所述的防滑手术器械，其中所述一或多个钻槽包括两个、三个、四个、六个、八个、十个或二十个槽。
5.根据权利要求1到4中任一权利要求所述的防滑手术器械，其中一或多个侧切槽包括两个、三个、四个、六个、八个、十个或二十个槽。
6.根据权利要求1到5中任一权利要求所述的防滑手术器械，其中所述轴件的纵长大于所述铣削头的纵长。
7.根据权利要求1到6中任一权利要求所述的防滑手术器械，其中所述轴件的纵长大于所述柄的纵长。
8.根据权利要求1到7中任一权利要求所述的防滑手术器械，其中所述一或多个钻槽具有高于所述一或多个侧切槽的扭转速率(即，较大槽角)。
9.根据权利要求1到7中任一权利要求所述的防滑手术器械，其中所述一或多个钻槽具有低于所述一或多个侧切槽的扭转速率(即，较小槽角)。
10.根据权利要求1到9中任一权利要求所述的防滑手术器械，其中所述一或多个钻槽具有不同于所述一或多个侧切槽的扭转速率(即，不同槽角)。
11.根据权利要求1到10中任一权利要求所述的防滑手术器械，其中所述手术是脊柱手术、矫形手术、牙科手术、耳科手术、鼻部手术或喉部手术。
12.根据权利要求1到11中任一权利要求所述的防滑手术器械，其中所述防滑手术器械可插入到手术器械引导件中，使得所述手术器械由所述手术器械引导件约束。
13.根据权利要求12所述的防滑手术器械，其中所述手术器械引导件包括刚性中空管状结构，其具有第一开口端及第二开口端，所述结构界定所述管状结构的轴，沿着所述轴限制手术器械滑动通过所述结构的移动，其中所述管状结构具有内表面，其经塑形及设定大小以容纳滑动通过所述引导件的所述防滑手术器械，使得所述防滑手术器械(例如，其配有工具支架)的移动在除沿着由所述引导件界定的所述轴外的全部方向上受约束。
14.根据权利要求13所述的防滑手术器械，其中所述防滑手术器械配有工具支架，所述工具支架经塑形及设定大小以沿着由所述引导件所界定的所述轴滑动通过所述手术器械引导件。
15.根据权利要求12到14中任一权利要求所述的防滑手术器械，其中所述防滑手术器械是钻头，且所述手术器械引导件是钻头引导件。
16.根据权利要求12到15中任一权利要求所述的防滑手术器械，其中所述防滑手术器械经配置以由包括机器人臂的机器人手术系统引导。
17.根据权利要求16所述的防滑手术器械，其中所述机器人臂具有端效应器，其包括被附接到其的手术器械引导件，所述手术器械引导件经配置以固持及/或限制手术器械通过其的移动。
18.根据权利要求16到17中任一权利要求所述的防滑手术器械，其中导航标记由导航摄像机使用以跟踪所述防滑手术器械。
19.根据权利要求16到18中任一权利要求所述的防滑所述器械，其中所述手术器械引导件经配置以用于引导螺钉植入物及组织保护器。
20.根据权利要求16到19中任一权利要求所述的防滑手术器械，其中操纵器被附接到所述机器人臂。
21.根据权利要求16到20中任一权利要求所述的防滑手术器械，其中所述操纵器被模制到所述机器人臂中。
22.根据权利要求12到21中任一权利要求所述的防滑手术器械，其中所述手术器械引导件的所述轴可经由所述操纵器与关于所述患者情形所期望的轨迹对准。
23.一种使用防滑手术器械在患者的骨组织中制备孔来执行手术的方法，所述方法包括：
操纵所述防滑手术器械以在所述患者的所述骨组织中制备所述孔，其中所述防滑手术器械具有细长结构，其包括：
处于所述细长结构的端处的铣削头，其用于在所述防滑手术器械与所述骨组织接触之后所述手术器械的打滑(例如，所述手术器械的非故意横向移动)减小的情况下移除骨组织，其中所述铣削头具有大体上垂直于所述细长结构的纵轴的平坦端以及围绕所述细长结构的所述纵轴的用于切入到骨组织中的一或多个侧切槽；
用于连接到钻的柄；以及
所述铣削头与所述柄之间的轴件，所述轴件具有用于排出被移除的骨组织的一或多个钻槽(例如，非切槽)。
24.根据权利要求23所述的方法，其中操纵所述防滑手术器械包括：将所述手术器械插入到手术器械引导件中，使得所述手术器械由所述手术器械引导件约束。
25.根据权利要求24所述的方法，其中所述手术器械引导件包括刚性中空管状结构，其具有第一开口端及第二开口端，所述结构界定所述管状结构的轴，沿着所述轴限制手术器械滑动通过所述结构的移动，其中所述管状结构具有内表面，其经塑形及设定大小以容纳滑动通过所述引导件的所述防滑手术器械，使得所述防滑手术器械(例如，其配有工具支架)的移动在除沿着由所述引导件界定的所述轴外的全部方向上受约束。
26.根据权利要求25所述的方法，其中所述防滑手术器械配有工具支架，其经塑形及设定大小以沿着由所述引导件界定的所述轴滑动通过所述手术器械引导件。
27.根据权利要求24到26中任一权利要求所述的方法，其中所述防滑手术器械是钻头，且所述手术器械引导件是钻头引导件。
28.根据权利要求23到27中任一权利要求所述的方法，其中所述防滑手术器械用于脊柱手术、矫形手术、牙科手术、耳科手术、鼻部手术及喉部手术中的至少一者。
29.根据权利要求23到28中任一权利要求所述的方法，其中所述防滑手术器械由包括机器人臂的机器人手术系统引导。
30.根据权利要求29所述的方法，其中所述机器人臂具有端效应器，其包括被附接到其的手术器械引导件，所述手术器械引导件经配置以固持及/或限制手术器械通过其的移动。
31.根据权利要求29或30所述的方法，其包括：
固定所述机器人臂的位置(且，因此，固定所述手术器械引导件的位置)。
32.根据权利要求29到31中任一权利要求所述的方法，其中导航标记由导航摄像机使用以跟踪所述防滑手术器械。
33.根据权利要求29到32中任一权利要求所述的方法，其包括：获得或存取患者情形的CT扫描、3D CT扫描、荧光镜检查、3D荧光镜检查或基于自然标记点的图像。
34.根据权利要求29到33中任一权利要求所述的方法，其中操纵器被附接到所述机器人臂。
35.根据权利要求29到34中任一权利要求所述的方法，其中所述操纵器被模制到所述机器人臂中。
36.根据权利要求29到35中任一权利要求所述的方法，其中所述轴可经由所述操纵器与关于所述患者情形所期望的轨迹对准。
37.根据权利要求23到36中任一权利要求所述的方法，其中所述铣削头的所述平坦端具有用于轴向切入到所述骨组织中的一或多个端切槽。
38.根据权利要求23到37中任一权利要求所述的方法，其中所述一或多个钻槽具有不同于所述一或多个侧切槽的扭转速率(即，不同槽角)。
39.根据权利要求23到38中任一权利要求所述的方法，其中所述一或多个钻槽不同于所述一或多个侧切槽。
40.根据权利要求23到39中任一权利要求所述的方法，其中所述一或多个钻槽包括两个、三个、四个、六个、八个、十个或二十个槽。
41.根据权利要求23到40中任一权利要求所述的方法，其中一或多个侧切槽包括两个、三个、四个、六个、八个、十个或二十个槽。
42.根据权利要求23到41中任一权利要求所述的方法，其中所述轴件的纵长大于所述铣削头的纵长。
43.根据权利要求23到42中任一权利要求所述的方法，其中所述轴件的纵长大于所述柄的纵长。
44.根据权利要求23到43中任一权利要求所述的方法，其中所述一或多个钻槽具有高于所述一或多个侧切槽的扭转速率(即，较大槽角)。
45.根据权利要求23到43中任一权利要求所述的方法，其中所述一或多个钻槽具有低于所述一或多个侧切槽的扭转速率(即，较小槽角)。
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| US201462024402P | 2014-07-14 | 2014-07-14 | |
| US62/024,402 | 2014-07-14 | ||
| PCT/EP2015/066057 WO2016008880A1 (en) | 2014-07-14 | 2015-07-14 | Anti-skid surgical instrument for use in preparing holes in bone tissue |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107072673A true CN107072673A (zh) | 2017-08-18 |
Family
ID=53773419
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201580043738.9A Pending CN107072673A (zh) | 2014-07-14 | 2015-07-14 | 用于在骨组织中制备孔的防滑手术器械 |
Country Status (4)
| Country | Link |
|---|---|
| US (2) | US10357257B2 (zh) |
| EP (1) | EP3169252A1 (zh) |
| CN (1) | CN107072673A (zh) |
| WO (1) | WO2016008880A1 (zh) |
Families Citing this family (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US10874466B2 (en) | 2012-06-21 | 2020-12-29 | Globus Medical, Inc. | System and method for surgical tool insertion using multiaxis force and moment feedback |
| US10646280B2 (en) | 2012-06-21 | 2020-05-12 | Globus Medical, Inc. | System and method for surgical tool insertion using multiaxis force and moment feedback |
| US10441294B2 (en) | 2013-06-11 | 2019-10-15 | Depuy Ireland Unlimited Company | System for the treatment of a planned volume of a body part |
| US10765438B2 (en) | 2014-07-14 | 2020-09-08 | KB Medical SA | Anti-skid surgical instrument for use in preparing holes in bone tissue |
| CN107072673A (zh) | 2014-07-14 | 2017-08-18 | Kb医疗公司 | 用于在骨组织中制备孔的防滑手术器械 |
| JP6430635B2 (ja) * | 2014-10-01 | 2018-11-28 | エルジー エレクトロニクス インコーポレイティド | 無線通信システムにおけるデータ送信方法及びこのための装置 |
| WO2016131903A1 (en) | 2015-02-18 | 2016-08-25 | KB Medical SA | Systems and methods for performing minimally invasive spinal surgery with a robotic surgical system using a percutaneous technique |
| EP3354223A1 (en) * | 2017-01-13 | 2018-08-01 | KB Medical SA | Anti-skid surgical instrument for use in preparing holes in bone tissue |
| WO2018167246A1 (en) | 2017-03-15 | 2018-09-20 | Orthotaxy | System for guiding a surgical tool relative to a target axis in spine surgery |
| JP6841942B2 (ja) * | 2017-03-29 | 2021-03-10 | ボストン サイエンティフィック サイムド，インコーポレイテッドＢｏｓｔｏｎ Ｓｃｉｅｎｔｉｆｉｃ Ｓｃｉｍｅｄ，Ｉｎｃ． | 組織を後退させる為の装置および方法 |
| US10349986B2 (en) | 2017-04-20 | 2019-07-16 | Warsaw Orthopedic, Inc. | Spinal implant system and method |
| US11065069B2 (en) | 2017-05-10 | 2021-07-20 | Mako Surgical Corp. | Robotic spine surgery system and methods |
| US11033341B2 (en) | 2017-05-10 | 2021-06-15 | Mako Surgical Corp. | Robotic spine surgery system and methods |
| US10806466B2 (en) * | 2018-02-28 | 2020-10-20 | Gyrus Acmi, Inc. | High speed drill configured with multiple cutting burr attachments |
| EP3799805A3 (en) | 2019-10-04 | 2021-08-11 | K2M, Inc. | Tools for insertion of a spinal implant |
| USD941470S1 (en) | 2019-11-07 | 2022-01-18 | K2M, Inc. | Surgical blade |
| US20220015865A1 (en) * | 2020-07-15 | 2022-01-20 | Daniel S. Kim | Guided implant drill system and methods of use |
| US11925426B2 (en) | 2021-07-16 | 2024-03-12 | DePuy Synthes Products, Inc. | Surgical robot with anti-skive feature |
Citations (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO1999020196A1 (en) * | 1997-10-20 | 1999-04-29 | Ura Robert S | Variable depth medical drill and method of making the same |
| US6725080B2 (en) * | 2000-03-01 | 2004-04-20 | Surgical Navigation Technologies, Inc. | Multiple cannula image guided tool for image guided procedures |
| US20040128026A1 (en) * | 2001-01-29 | 2004-07-01 | Harris Simon James | Active-constraint robots |
| US20040265082A1 (en) * | 2003-06-30 | 2004-12-30 | Steven Abrams | Drill measurement stops |
| US20060142657A1 (en) * | 2002-03-06 | 2006-06-29 | Mako Surgical Corporation | Haptic guidance system and method |
| CN1925798A (zh) * | 2004-02-05 | 2007-03-07 | Bti，I+D，有限公司 | 具有组织微粒的提取和收集的低速、无冲洗的研磨方法和工具 |
| WO2007055441A1 (en) * | 2005-11-14 | 2007-05-18 | Youn Moon Jung | Surgical device for spiral vertebral column |
| US20090287222A1 (en) * | 2008-05-16 | 2009-11-19 | Chun Tek Lee | Method and system for cutting knee joint using robot |
| US20100145341A1 (en) * | 2008-12-04 | 2010-06-10 | Ranck Roger S | Trocar-tipped drill bit |
| CN102085110A (zh) * | 2011-03-12 | 2011-06-08 | 徐兆万 | 一种股骨头内骨质切削器 |
| WO2011147831A1 (en) * | 2010-05-24 | 2011-12-01 | Episurf Medical Ab | Surgical kit for cartilage repair comprising implant and a set of tools |
| EP2698115A1 (en) * | 2012-08-16 | 2014-02-19 | AprioMed AB | Biopsy device |
| US8709045B1 (en) * | 2009-03-27 | 2014-04-29 | A. Clint Folsom | Joint fusing system |
| CN103767759A (zh) * | 2014-01-28 | 2014-05-07 | 重庆西山科技有限公司 | 医用磨削刀具 |
Family Cites Families (561)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE2614083B2 (de) | 1976-04-01 | 1979-02-08 | Siemens Ag, 1000 Berlin Und 8000 Muenchen | Röntgenschichtgerät zur Herstellung von Transversalschichtbildern |
| US4710075A (en) | 1986-10-01 | 1987-12-01 | Boehringer Mannheim Corporation | Adjustable drill gauge |
| US5354314A (en) | 1988-12-23 | 1994-10-11 | Medical Instrumentation And Diagnostics Corporation | Three-dimensional beam localization apparatus and microscope for stereotactic diagnoses or surgery mounted on robotic type arm |
| US5246010A (en) | 1990-12-11 | 1993-09-21 | Biotrine Corporation | Method and apparatus for exhalation analysis |
| US5417210A (en) | 1992-05-27 | 1995-05-23 | International Business Machines Corporation | System and method for augmentation of endoscopic surgery |
| US5631973A (en) | 1994-05-05 | 1997-05-20 | Sri International | Method for telemanipulation with telepresence |
| US6963792B1 (en) | 1992-01-21 | 2005-11-08 | Sri International | Surgical method |
| US5657429A (en) | 1992-08-10 | 1997-08-12 | Computer Motion, Inc. | Automated endoscope system optimal positioning |
| US5397323A (en) | 1992-10-30 | 1995-03-14 | International Business Machines Corporation | Remote center-of-motion robot for surgery |
| WO1994026167A1 (en) | 1993-05-14 | 1994-11-24 | Sri International | Remote center positioner |
| JP3378401B2 (ja) | 1994-08-30 | 2003-02-17 | 株式会社日立メディコ | Ｘ線装置 |
| US6646541B1 (en) | 1996-06-24 | 2003-11-11 | Computer Motion, Inc. | General purpose distributed operating room control system |
| US6978166B2 (en) | 1994-10-07 | 2005-12-20 | Saint Louis University | System for use in displaying images of a body part |
| DE29521895U1 (de) | 1994-10-07 | 1998-09-10 | St. Louis University, St. Louis, Mo. | Chirurgisches Navigationssystem umfassend Referenz- und Lokalisationsrahmen |
| US5882206A (en) | 1995-03-29 | 1999-03-16 | Gillio; Robert G. | Virtual surgery system |
| 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 |
| US6122541A (en) | 1995-05-04 | 2000-09-19 | Radionics, Inc. | Head band for frameless stereotactic registration |
| US5649956A (en) | 1995-06-07 | 1997-07-22 | Sri International | System and method for releasably holding a surgical instrument |
| US5825982A (en) | 1995-09-15 | 1998-10-20 | Wright; James | Head cursor control interface for an automated endoscope system for optimal positioning |
| US5772594A (en) | 1995-10-17 | 1998-06-30 | Barrick; Earl F. | Fluoroscopic image guided orthopaedic surgery system with intraoperative registration |
| US5855583A (en) | 1996-02-20 | 1999-01-05 | Computer Motion, Inc. | Method and apparatus for performing minimally invasive cardiac procedures |
| SG64340A1 (en) | 1996-02-27 | 1999-04-27 | Inst Of Systems Science Nation | Curved surgical instruments and methods of mapping a curved path for stereotactic surgery |
| US6167145A (en) | 1996-03-29 | 2000-12-26 | Surgical Navigation Technologies, Inc. | Bone navigation system |
| US5792135A (en) | 1996-05-20 | 1998-08-11 | Intuitive Surgical, Inc. | Articulated surgical instrument for performing minimally invasive surgery with enhanced dexterity and sensitivity |
| US6167296A (en) | 1996-06-28 | 2000-12-26 | The Board Of Trustees Of The Leland Stanford Junior University | Method for volumetric image navigation |
| US7302288B1 (en) | 1996-11-25 | 2007-11-27 | Z-Kat, Inc. | Tool position indicator |
| US7727244B2 (en) | 1997-11-21 | 2010-06-01 | Intuitive Surgical Operation, Inc. | Sterile surgical drape |
| US8529582B2 (en) | 1996-12-12 | 2013-09-10 | Intuitive Surgical Operations, Inc. | Instrument interface of a robotic surgical system |
| US6205411B1 (en) | 1997-02-21 | 2001-03-20 | Carnegie Mellon University | Computer-assisted surgery planner and intra-operative guidance system |
| US6012216A (en) | 1997-04-30 | 2000-01-11 | Ethicon, Inc. | Stand alone swage apparatus |
| US5820559A (en) | 1997-03-20 | 1998-10-13 | Ng; Wan Sing | Computerized boundary estimation in medical images |
| US5911449A (en) | 1997-04-30 | 1999-06-15 | Ethicon, Inc. | Semi-automated needle feed method and apparatus |
| US6231565B1 (en) | 1997-06-18 | 2001-05-15 | United States Surgical Corporation | Robotic arm DLUs for performing surgical tasks |
| EP1015944B1 (en) | 1997-09-19 | 2013-02-27 | Massachusetts Institute Of Technology | Surgical robotic apparatus |
| US6226548B1 (en) | 1997-09-24 | 2001-05-01 | Surgical Navigation Technologies, Inc. | Percutaneous registration apparatus and method for use in computer-assisted surgical navigation |
| US5951475A (en) | 1997-09-25 | 1999-09-14 | International Business Machines Corporation | Methods and apparatus for registering CT-scan data to multiple fluoroscopic images |
| US5987960A (en) | 1997-09-26 | 1999-11-23 | Picker International, Inc. | Tool calibrator |
| US6212419B1 (en) | 1997-11-12 | 2001-04-03 | Walter M. Blume | Method and apparatus using shaped field of repositionable magnet to guide implant |
| US6157853A (en) | 1997-11-12 | 2000-12-05 | Stereotaxis, Inc. | Method and apparatus using shaped field of repositionable magnet to guide implant |
| US6031888A (en) | 1997-11-26 | 2000-02-29 | Picker International, Inc. | Fluoro-assist feature for a diagnostic imaging device |
| US6165170A (en) | 1998-01-29 | 2000-12-26 | International Business Machines Corporation | Laser dermablator and dermablation |
| US6949106B2 (en) | 1998-02-24 | 2005-09-27 | Endovia Medical, Inc. | Surgical instrument |
| WO1999049819A1 (en) * | 1998-04-01 | 1999-10-07 | Parallax Medical, Inc. | Pressure applicator for hard tissue implant placement |
| FR2779339B1 (fr) | 1998-06-09 | 2000-10-13 | Integrated Surgical Systems Sa | Procede et appareil de mise en correspondance pour la chirurgie robotisee, et dispositif de mise en correspondance en comportant application |
| US6477400B1 (en) | 1998-08-20 | 2002-11-05 | Sofamor Danek Holdings, Inc. | Fluoroscopic image guided orthopaedic surgery system with intraoperative registration |
| DE19839825C1 (de) | 1998-09-01 | 1999-10-07 | Siemens Ag | Röntgendiagnostikgerät mit an einer bogenförmigen Halterung einander gegenüberliegend gelagertem Strahlensender und Strahlenempfänger |
| US6033415A (en) | 1998-09-14 | 2000-03-07 | Integrated Surgical Systems | System and method for performing image directed robotic orthopaedic procedures without a fiducial reference system |
| DE19842798C1 (de) | 1998-09-18 | 2000-05-04 | Howmedica Leibinger Gmbh & Co | Kalibriervorrichtung |
| US6340363B1 (en) | 1998-10-09 | 2002-01-22 | Surgical Navigation Technologies, Inc. | Image guided vertebral distractor and method for tracking the position of vertebrae |
| US6659939B2 (en) | 1998-11-20 | 2003-12-09 | Intuitive Surgical, Inc. | Cooperative minimally invasive telesurgical system |
| US8527094B2 (en) | 1998-11-20 | 2013-09-03 | Intuitive Surgical Operations, Inc. | Multi-user medical robotic system for collaboration or training in minimally invasive surgical procedures |
| US7125403B2 (en) | 1998-12-08 | 2006-10-24 | Intuitive Surgical | In vivo accessories for minimally invasive robotic surgery |
| US6325808B1 (en) | 1998-12-08 | 2001-12-04 | Advanced Realtime Control Systems, Inc. | Robotic system, docking station, and surgical tool for collaborative control in minimally invasive surgery |
| US6322567B1 (en) | 1998-12-14 | 2001-11-27 | Integrated Surgical Systems, Inc. | Bone motion tracking system |
| US6451027B1 (en) | 1998-12-16 | 2002-09-17 | Intuitive Surgical, Inc. | Devices and methods for moving an image capture device in telesurgical systems |
| US7016457B1 (en) | 1998-12-31 | 2006-03-21 | General Electric Company | Multimode imaging system for generating high quality images |
| DE19905974A1 (de) | 1999-02-12 | 2000-09-07 | Siemens Ag | Verfahren zur Abtastung eines Untersuchungsobjekts mittels eines CT-Geräts |
| US6560354B1 (en) | 1999-02-16 | 2003-05-06 | University Of Rochester | Apparatus and method for registration of images to physical space using a weighted combination of points and surfaces |
| US6144875A (en) | 1999-03-16 | 2000-11-07 | Accuray Incorporated | Apparatus and method for compensating for respiratory and patient motion during treatment |
| US6778850B1 (en) | 1999-03-16 | 2004-08-17 | Accuray, Inc. | Frameless radiosurgery treatment system and method |
| US6501981B1 (en) | 1999-03-16 | 2002-12-31 | Accuray, Inc. | Apparatus and method for compensating for respiratory and patient motions during treatment |
| US6470207B1 (en) | 1999-03-23 | 2002-10-22 | Surgical Navigation Technologies, Inc. | Navigational guidance via computer-assisted fluoroscopic imaging |
| JP2000271110A (ja) | 1999-03-26 | 2000-10-03 | Hitachi Medical Corp | 医用ｘ線装置 |
| US6565554B1 (en) | 1999-04-07 | 2003-05-20 | Intuitive Surgical, Inc. | Friction compensation in a minimally invasive surgical apparatus |
| US6594552B1 (en) | 1999-04-07 | 2003-07-15 | Intuitive Surgical, Inc. | Grip strength with tactile feedback for robotic surgery |
| US6424885B1 (en) | 1999-04-07 | 2002-07-23 | Intuitive Surgical, Inc. | Camera referenced control in a minimally invasive surgical apparatus |
| US6301495B1 (en) | 1999-04-27 | 2001-10-09 | International Business Machines Corporation | System and method for intra-operative, image-based, interactive verification of a pre-operative surgical plan |
| DE19927953A1 (de) | 1999-06-18 | 2001-01-11 | Siemens Ag | Röntgendiagnostikgerät |
| US6314311B1 (en) | 1999-07-28 | 2001-11-06 | Picker International, Inc. | Movable mirror laser registration system |
| US6788018B1 (en) | 1999-08-03 | 2004-09-07 | Intuitive Surgical, Inc. | Ceiling and floor mounted surgical robot set-up arms |
| US8271130B2 (en) | 2009-03-09 | 2012-09-18 | Intuitive Surgical Operations, Inc. | Master controller having redundant degrees of freedom and added forces to create internal motion |
| US8004229B2 (en) | 2005-05-19 | 2011-08-23 | Intuitive Surgical Operations, Inc. | Software center and highly configurable robotic systems for surgery and other uses |
| US9492235B2 (en) | 1999-09-17 | 2016-11-15 | Intuitive Surgical Operations, Inc. | Manipulator arm-to-patient collision avoidance using a null-space |
| US7594912B2 (en) | 2004-09-30 | 2009-09-29 | Intuitive Surgical, Inc. | Offset remote center manipulator for robotic surgery |
| US6312435B1 (en) | 1999-10-08 | 2001-11-06 | Intuitive Surgical, Inc. | Surgical instrument with extended reach for use in minimally invasive surgery |
| US6499488B1 (en) | 1999-10-28 | 2002-12-31 | Winchester Development Associates | Surgical sensor |
| US8239001B2 (en) | 2003-10-17 | 2012-08-07 | Medtronic Navigation, Inc. | Method and apparatus for surgical navigation |
| US8644907B2 (en) | 1999-10-28 | 2014-02-04 | Medtronic Navigaton, Inc. | Method and apparatus for surgical navigation |
| US6235038B1 (en) | 1999-10-28 | 2001-05-22 | Medtronic Surgical Navigation Technologies | System for translation of electromagnetic and optical localization systems |
| US6379302B1 (en) | 1999-10-28 | 2002-04-30 | Surgical Navigation Technologies Inc. | Navigation information overlay onto ultrasound imagery |
| US7366562B2 (en) | 2003-10-17 | 2008-04-29 | Medtronic Navigation, Inc. | Method and apparatus for surgical navigation |
| US20010036302A1 (en) | 1999-12-10 | 2001-11-01 | Miller Michael I. | Method and apparatus for cross modality image registration |
| US7635390B1 (en) | 2000-01-14 | 2009-12-22 | Marctec, Llc | Joint replacement component having a modular articulating surface |
| US6377011B1 (en) | 2000-01-26 | 2002-04-23 | Massachusetts Institute Of Technology | Force feedback user interface for minimally invasive surgical simulator and teleoperator and other similar apparatus |
| WO2001056007A1 (en) | 2000-01-28 | 2001-08-02 | Intersense, Inc. | Self-referenced tracking |
| JP2003534035A (ja) | 2000-03-15 | 2003-11-18 | オーソソフト インコーポレイテッド | コンピュータ支援手術器具の自動校正システム |
| US6535756B1 (en) | 2000-04-07 | 2003-03-18 | Surgical Navigation Technologies, Inc. | Trajectory storage apparatus and method for surgical navigation system |
| US6856827B2 (en) | 2000-04-28 | 2005-02-15 | Ge Medical Systems Global Technology Company, Llc | Fluoroscopic tracking and visualization system |
| US6484049B1 (en) | 2000-04-28 | 2002-11-19 | Ge Medical Systems Global Technology Company, Llc | Fluoroscopic tracking and visualization system |
| US6856826B2 (en) | 2000-04-28 | 2005-02-15 | Ge Medical Systems Global Technology Company, Llc | Fluoroscopic tracking and visualization system |
| US6614453B1 (en) | 2000-05-05 | 2003-09-02 | Koninklijke Philips Electronics, N.V. | Method and apparatus for medical image display for surgical tool planning and navigation in clinical environments |
| US6645196B1 (en) | 2000-06-16 | 2003-11-11 | Intuitive Surgical, Inc. | Guided tool change |
| US6782287B2 (en) | 2000-06-27 | 2004-08-24 | The Board Of Trustees Of The Leland Stanford Junior University | Method and apparatus for tracking a medical instrument based on image registration |
| US6837892B2 (en) | 2000-07-24 | 2005-01-04 | Mazor Surgical Technologies Ltd. | Miniature bone-mounted surgical robot |
| US6902560B1 (en) | 2000-07-27 | 2005-06-07 | Intuitive Surgical, Inc. | Roll-pitch-roll surgical tool |
| DE10037491A1 (de) | 2000-08-01 | 2002-02-14 | Stryker Leibinger Gmbh & Co Kg | Verfahren zum dreidimensionalen Visualisieren von Strukturen im Körperinneren |
| US6823207B1 (en) | 2000-08-26 | 2004-11-23 | Ge Medical Systems Global Technology Company, Llc | Integrated fluoroscopic surgical navigation and imaging workstation with command protocol |
| JP4022145B2 (ja) | 2000-09-25 | 2007-12-12 | ゼット − キャット、インコーポレイテッド | 光学および／または磁気マーカを備える蛍光透視重ね合せ構造体 |
| AU2002215822A1 (en) | 2000-10-23 | 2002-05-06 | Deutsches Krebsforschungszentrum Stiftung Des Offentlichen Rechts | Method, device and navigation aid for navigation during medical interventions |
| US6718194B2 (en) | 2000-11-17 | 2004-04-06 | Ge Medical Systems Global Technology Company, Llc | Computer assisted intramedullary rod surgery system with enhanced features |
| US6666579B2 (en) | 2000-12-28 | 2003-12-23 | Ge Medical Systems Global Technology Company, Llc | Method and apparatus for obtaining and displaying computed tomography images using a fluoroscopy imaging system |
| US6840938B1 (en) | 2000-12-29 | 2005-01-11 | Intuitive Surgical, Inc. | Bipolar cauterizing instrument |
| CN100491914C (zh) | 2001-01-30 | 2009-05-27 | Z-凯特公司 | 器具的校准器及跟踪器系统 |
| US7220262B1 (en) | 2001-03-16 | 2007-05-22 | Sdgi Holdings, Inc. | Spinal fixation system and related methods |
| FR2822674B1 (fr) | 2001-04-03 | 2003-06-27 | Scient X | Systeme stabilise de fusion intersomatique pour vertebres |
| WO2002083003A1 (en) | 2001-04-11 | 2002-10-24 | Clarke Dana S | Tissue structure identification in advance of instrument |
| US7824401B2 (en) | 2004-10-08 | 2010-11-02 | Intuitive Surgical Operations, Inc. | Robotic tool with wristed monopolar electrosurgical end effectors |
| US8398634B2 (en) | 2002-04-18 | 2013-03-19 | Intuitive Surgical Operations, Inc. | Wristed robotic surgical tool for pluggable end-effectors |
| US6783524B2 (en) | 2001-04-19 | 2004-08-31 | Intuitive Surgical, Inc. | Robotic surgical tool with ultrasound cauterizing and cutting instrument |
| US6994708B2 (en) | 2001-04-19 | 2006-02-07 | Intuitive Surgical | Robotic tool with monopolar electro-surgical scissors |
| US6636757B1 (en) | 2001-06-04 | 2003-10-21 | Surgical Navigation Technologies, Inc. | Method and apparatus for electromagnetic navigation of a surgical probe near a metal object |
| US7607440B2 (en) | 2001-06-07 | 2009-10-27 | Intuitive Surgical, Inc. | Methods and apparatus for surgical planning |
| EP1395194B1 (en) | 2001-06-13 | 2007-08-29 | Volume Interactions Pte. Ltd. | A guide system |
| US6584339B2 (en) | 2001-06-27 | 2003-06-24 | Vanderbilt University | Method and apparatus for collecting and processing physical space data for use while performing image-guided surgery |
| EP1408846B1 (en) | 2001-06-29 | 2012-03-07 | Intuitive Surgical Operations, Inc. | Platform link wrist mechanism |
| US7063705B2 (en) | 2001-06-29 | 2006-06-20 | Sdgi Holdings, Inc. | Fluoroscopic locator and registration device |
| US20040243147A1 (en) | 2001-07-03 | 2004-12-02 | Lipow Kenneth I. | Surgical robot and robotic controller |
| ITMI20011759A1 (it) | 2001-08-09 | 2003-02-09 | Nuovo Pignone Spa | Dispositivo raschiaiolo per asta di stantuffo di compressori alternativi |
| US7708741B1 (en) | 2001-08-28 | 2010-05-04 | Marctec, Llc | Method of preparing bones for knee replacement surgery |
| US6728599B2 (en) | 2001-09-07 | 2004-04-27 | Computer Motion, Inc. | Modularity system for computer assisted surgery |
| US6587750B2 (en) | 2001-09-25 | 2003-07-01 | Intuitive Surgical, Inc. | Removable infinite roll master grip handle and touch sensor for robotic surgery |
| US6619840B2 (en) | 2001-10-15 | 2003-09-16 | Koninklijke Philips Electronics N.V. | Interventional volume scanner |
| US6839612B2 (en) | 2001-12-07 | 2005-01-04 | Institute Surgical, Inc. | Microwrist system for surgical procedures |
| US6947786B2 (en) | 2002-02-28 | 2005-09-20 | Surgical Navigation Technologies, Inc. | Method and apparatus for perspective inversion |
| US8996169B2 (en) | 2011-12-29 | 2015-03-31 | Mako Surgical Corp. | Neural monitor-based dynamic haptics |
| US7108421B2 (en) | 2002-03-19 | 2006-09-19 | Breakaway Imaging, Llc | Systems and methods for imaging large field-of-view objects |
| US7164968B2 (en) | 2002-04-05 | 2007-01-16 | The Trustees Of Columbia University In The City Of New York | Robotic scrub nurse |
| US7099428B2 (en) | 2002-06-25 | 2006-08-29 | The Regents Of The University Of Michigan | High spatial resolution X-ray computed tomography (CT) system |
| US7248914B2 (en) | 2002-06-28 | 2007-07-24 | Stereotaxis, Inc. | Method of navigating medical devices in the presence of radiopaque material |
| US7630752B2 (en) | 2002-08-06 | 2009-12-08 | Stereotaxis, Inc. | Remote control of medical devices using a virtual device interface |
| WO2004015369A2 (en) | 2002-08-09 | 2004-02-19 | Intersense, Inc. | Motion tracking system and method |
| US7231063B2 (en) | 2002-08-09 | 2007-06-12 | Intersense, Inc. | Fiducial detection system |
| EP1531749A2 (en) | 2002-08-13 | 2005-05-25 | Microbotics Corporation | Microsurgical robot system |
| US6892090B2 (en) | 2002-08-19 | 2005-05-10 | Surgical Navigation Technologies, Inc. | Method and apparatus for virtual endoscopy |
| US7331967B2 (en) | 2002-09-09 | 2008-02-19 | Hansen Medical, Inc. | Surgical instrument coupling mechanism |
| ES2204322B1 (es) | 2002-10-01 | 2005-07-16 | Consejo Sup. De Invest. Cientificas | Navegador funcional. |
| JP3821435B2 (ja) | 2002-10-18 | 2006-09-13 | 松下電器産業株式会社 | 超音波探触子 |
| US7318827B2 (en) | 2002-12-02 | 2008-01-15 | Aesculap Ag & Co. Kg | Osteotomy procedure |
| US7319897B2 (en) | 2002-12-02 | 2008-01-15 | Aesculap Ag & Co. Kg | Localization device display method and apparatus |
| US8814793B2 (en) | 2002-12-03 | 2014-08-26 | Neorad As | Respiration monitor |
| US7386365B2 (en) | 2004-05-04 | 2008-06-10 | Intuitive Surgical, Inc. | Tool grip calibration for robotic surgery |
| US7945021B2 (en) | 2002-12-18 | 2011-05-17 | Varian Medical Systems, Inc. | Multi-mode cone beam CT radiotherapy simulator and treatment machine with a flat panel imager |
| US7505809B2 (en) | 2003-01-13 | 2009-03-17 | Mediguide Ltd. | Method and system for registering a first image with a second image relative to the body of a patient |
| US7542791B2 (en) | 2003-01-30 | 2009-06-02 | Medtronic Navigation, Inc. | Method and apparatus for preplanning a surgical procedure |
| US7660623B2 (en) | 2003-01-30 | 2010-02-09 | Medtronic Navigation, Inc. | Six degree of freedom alignment display for medical procedures |
| WO2004069040A2 (en) | 2003-02-04 | 2004-08-19 | Z-Kat, Inc. | Method and apparatus for computer assistance with intramedullary nail procedure |
| US6988009B2 (en) | 2003-02-04 | 2006-01-17 | Zimmer Technology, Inc. | Implant registration device for surgical navigation system |
| US7083615B2 (en) | 2003-02-24 | 2006-08-01 | Intuitive Surgical Inc | Surgical tool having electrocautery energy supply conductor with inhibited current leakage |
| JP4163991B2 (ja) | 2003-04-30 | 2008-10-08 | 株式会社モリタ製作所 | Ｘ線ｃｔ撮影装置及び撮影方法 |
| US9060770B2 (en) | 2003-05-20 | 2015-06-23 | Ethicon Endo-Surgery, Inc. | Robotically-driven surgical instrument with E-beam driver |
| US7194120B2 (en) | 2003-05-29 | 2007-03-20 | Board Of Regents, The University Of Texas System | Methods and systems for image-guided placement of implants |
| US7171257B2 (en) | 2003-06-11 | 2007-01-30 | Accuray Incorporated | Apparatus and method for radiosurgery |
| US9002518B2 (en) | 2003-06-30 | 2015-04-07 | Intuitive Surgical Operations, Inc. | Maximum torque driving of robotic surgical tools in robotic surgical systems |
| 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 |
| US7042184B2 (en) | 2003-07-08 | 2006-05-09 | Board Of Regents Of The University Of Nebraska | Microrobot for surgical applications |
| JP2007530085A (ja) | 2003-07-15 | 2007-11-01 | 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 | 大きなガントリボアを有するコンピュータトモグラフィスキャナ |
| US7313430B2 (en) | 2003-08-28 | 2007-12-25 | Medtronic Navigation, Inc. | Method and apparatus for performing stereotactic surgery |
| US7835778B2 (en) | 2003-10-16 | 2010-11-16 | Medtronic Navigation, Inc. | Method and apparatus for surgical navigation of a multiple piece construct for implantation |
| US20050171558A1 (en) | 2003-10-17 | 2005-08-04 | Abovitz Rony A. | Neurosurgery targeting and delivery system for brain structures |
| US7840253B2 (en) | 2003-10-17 | 2010-11-23 | Medtronic Navigation, Inc. | Method and apparatus for surgical navigation |
| US20050096502A1 (en) | 2003-10-29 | 2005-05-05 | Khalili Theodore M. | Robotic surgical device |
| US9393039B2 (en) | 2003-12-17 | 2016-07-19 | Brainlab Ag | Universal instrument or instrument set for computer guided surgery |
| US7466303B2 (en) | 2004-02-10 | 2008-12-16 | Sunnybrook Health Sciences Center | Device and process for manipulating real and virtual objects in three-dimensional space |
| WO2005086062A2 (en) | 2004-03-05 | 2005-09-15 | Depuy International Limited | Registration methods and apparatus |
| US7850642B2 (en) | 2004-03-05 | 2010-12-14 | Hansen Medical, Inc. | Methods using a robotic catheter system |
| WO2005087125A2 (en) | 2004-03-10 | 2005-09-22 | Depuy International Ltd | Orthopaedic operating systems, methods, implants and instruments |
| US7657298B2 (en) | 2004-03-11 | 2010-02-02 | Stryker Leibinger Gmbh & Co. Kg | System, device, and method for determining a position of an object |
| US8475495B2 (en) | 2004-04-08 | 2013-07-02 | Globus Medical | Polyaxial screw |
| WO2005112563A2 (en) | 2004-04-13 | 2005-12-01 | The University Of Georgia Research Foundation, Inc. | Virtual surgical system and methods |
| KR100617974B1 (ko) | 2004-04-22 | 2006-08-31 | 한국과학기술원 | 명령추종이 가능한 복강경 장치 |
| US7567834B2 (en) | 2004-05-03 | 2009-07-28 | Medtronic Navigation, Inc. | Method and apparatus for implantation between two vertebral bodies |
| US7379790B2 (en) | 2004-05-04 | 2008-05-27 | Intuitive Surgical, Inc. | Tool memory-based software upgrades for robotic surgery |
| US7974674B2 (en) | 2004-05-28 | 2011-07-05 | St. Jude Medical, Atrial Fibrillation Division, Inc. | Robotic surgical system and method for surface modeling |
| US8528565B2 (en) | 2004-05-28 | 2013-09-10 | St. Jude Medical, Atrial Fibrillation Division, Inc. | Robotic surgical system and method for automated therapy delivery |
| FR2871363B1 (fr) | 2004-06-15 | 2006-09-01 | Medtech Sa | Dispositif robotise de guidage pour outil chirurgical |
| US7327865B2 (en) | 2004-06-30 | 2008-02-05 | Accuray, Inc. | Fiducial-less tracking with non-rigid image registration |
| ITMI20041448A1 (it) | 2004-07-20 | 2004-10-20 | Milano Politecnico | Apparato per la fusione e navigazione di immagini ecografiche e volumetriche di un paziente che utilizza una combinazione di marcatori ottici attivi e passivi per la localizzazione di sonde ecografiche e strumenti chirurgici rispetto al paziente |
| US7440793B2 (en) | 2004-07-22 | 2008-10-21 | Sunita Chauhan | Apparatus and method for removing abnormal tissue |
| US7979157B2 (en) | 2004-07-23 | 2011-07-12 | Mcmaster University | Multi-purpose robotic operating system and method |
| US9072535B2 (en) | 2011-05-27 | 2015-07-07 | Ethicon Endo-Surgery, Inc. | Surgical stapling instruments with rotatable staple deployment arrangements |
| GB2422759B (en) | 2004-08-05 | 2008-07-16 | Elekta Ab | Rotatable X-ray scan apparatus with cone beam offset |
| US7702379B2 (en) | 2004-08-25 | 2010-04-20 | General Electric Company | System and method for hybrid tracking in surgical navigation |
| US7555331B2 (en) | 2004-08-26 | 2009-06-30 | Stereotaxis, Inc. | Method for surgical navigation utilizing scale-invariant registration between a navigation system and a localization system |
| DE102004042489B4 (de) | 2004-08-31 | 2012-03-29 | Siemens Ag | Medizinische Untersuchungs- oder Behandlungseinrichtung mit dazugehörigem Verfahren |
| CA2581009C (en) | 2004-09-15 | 2011-10-04 | Synthes (U.S.A.) | Calibrating device |
| US20090185655A1 (en) | 2004-10-06 | 2009-07-23 | Koninklijke Philips Electronics N.V. | Computed tomography method |
| US7831294B2 (en) | 2004-10-07 | 2010-11-09 | Stereotaxis, Inc. | System and method of surgical imagining with anatomical overlay for navigation of surgical devices |
| US7983733B2 (en) | 2004-10-26 | 2011-07-19 | Stereotaxis, Inc. | Surgical navigation using a three-dimensional user interface |
| US7062006B1 (en) | 2005-01-19 | 2006-06-13 | The Board Of Trustees Of The Leland Stanford Junior University | Computed tomography with increased field of view |
| US7837674B2 (en) | 2005-01-24 | 2010-11-23 | Intuitive Surgical Operations, Inc. | Compact counter balance for robotic surgical systems |
| US7763015B2 (en) | 2005-01-24 | 2010-07-27 | Intuitive Surgical Operations, Inc. | Modular manipulator support for robotic surgery |
| US20060184396A1 (en) | 2005-01-28 | 2006-08-17 | Dennis Charles L | System and method for surgical navigation |
| US7231014B2 (en) | 2005-02-14 | 2007-06-12 | Varian Medical Systems Technologies, Inc. | Multiple mode flat panel X-ray imaging system |
| CA2816973C (en) | 2005-03-07 | 2014-11-04 | Hector O. Pacheco | Cannula for insertion in the elongated opening of a pedicle |
| US8496647B2 (en) | 2007-12-18 | 2013-07-30 | Intuitive Surgical Operations, Inc. | Ribbed force sensor |
| US8375808B2 (en) | 2005-12-30 | 2013-02-19 | Intuitive Surgical Operations, Inc. | Force sensing for surgical instruments |
| WO2006102756A1 (en) | 2005-03-30 | 2006-10-05 | University Western Ontario | Anisotropic hydrogels |
| US7720523B2 (en) | 2005-04-20 | 2010-05-18 | General Electric Company | System and method for managing power deactivation within a medical imaging system |
| US8208988B2 (en) | 2005-05-13 | 2012-06-26 | General Electric Company | System and method for controlling a medical imaging device |
| US8073528B2 (en) * | 2007-09-30 | 2011-12-06 | Intuitive Surgical Operations, Inc. | Tool tracking systems, methods and computer products for image guided 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系统 |
| US8398541B2 (en) | 2006-06-06 | 2013-03-19 | Intuitive Surgical Operations, Inc. | Interactive user interfaces for robotic minimally invasive surgical systems |
| JP2007000406A (ja) | 2005-06-24 | 2007-01-11 | Ge Medical Systems Global Technology Co Llc | Ｘ線ｃｔ撮影方法およびｘ線ｃｔ装置 |
| US7840256B2 (en) | 2005-06-27 | 2010-11-23 | Biomet Manufacturing Corporation | Image guided tracking array and method |
| US8241271B2 (en) | 2005-06-30 | 2012-08-14 | Intuitive Surgical Operations, Inc. | Robotic surgical instruments with a fluid flow control system for irrigation, aspiration, and blowing |
| US20070038059A1 (en) | 2005-07-07 | 2007-02-15 | Garrett Sheffer | Implant and instrument morphing |
| US20080302950A1 (en) | 2005-08-11 | 2008-12-11 | The Brigham And Women's Hospital, Inc. | System and Method for Performing Single Photon Emission Computed Tomography (Spect) with a Focal-Length Cone-Beam Collimation |
| US7787699B2 (en) | 2005-08-17 | 2010-08-31 | General Electric Company | Real-time integration and recording of surgical image data |
| US8800838B2 (en) | 2005-08-31 | 2014-08-12 | Ethicon Endo-Surgery, Inc. | Robotically-controlled cable-based surgical end effectors |
| US20070073133A1 (en) | 2005-09-15 | 2007-03-29 | Schoenefeld Ryan J | Virtual mouse for use in surgical navigation |
| US7643862B2 (en) | 2005-09-15 | 2010-01-05 | Biomet Manufacturing Corporation | Virtual mouse for use in surgical navigation |
| US7835784B2 (en) | 2005-09-21 | 2010-11-16 | Medtronic Navigation, Inc. | Method and apparatus for positioning a reference frame |
| US8079950B2 (en) | 2005-09-29 | 2011-12-20 | Intuitive Surgical Operations, Inc. | Autofocus and/or autoscaling in telesurgery |
| US8224024B2 (en) | 2005-10-04 | 2012-07-17 | InterSense, LLC | Tracking objects with markers |
| US8945164B2 (en) | 2005-10-27 | 2015-02-03 | Medtronic Xomed, Inc. | Guard device for surgical cutting and evoked potential monitoring system |
| WO2007061890A2 (en) | 2005-11-17 | 2007-05-31 | Calypso Medical Technologies, Inc. | Apparatus and methods for using an electromagnetic transponder in orthopedic procedures |
| US7711406B2 (en) | 2005-11-23 | 2010-05-04 | General Electric Company | System and method for detection of electromagnetic radiation by amorphous silicon x-ray detector for metal detection in x-ray imaging |
| DE602005007509D1 (de) | 2005-11-24 | 2008-07-24 | Brainlab Ag | Medizinisches Referenzierungssystem mit gamma-Kamera |
| US7689320B2 (en) | 2005-12-20 | 2010-03-30 | Intuitive Surgical Operations, Inc. | Robotic surgical system with joint motion controller adapted to reduce instrument tip vibrations |
| US7762825B2 (en) | 2005-12-20 | 2010-07-27 | Intuitive Surgical Operations, Inc. | Electro-mechanical interfaces to mount robotic surgical arms |
| US7955322B2 (en) | 2005-12-20 | 2011-06-07 | Intuitive Surgical Operations, Inc. | Wireless communication in a robotic surgical system |
| US8672922B2 (en) | 2005-12-20 | 2014-03-18 | Intuitive Surgical Operations, Inc. | Wireless communication in a robotic surgical system |
| US8182470B2 (en) | 2005-12-20 | 2012-05-22 | Intuitive Surgical Operations, Inc. | Telescoping insertion axis of a robotic surgical system |
| US7819859B2 (en) | 2005-12-20 | 2010-10-26 | Intuitive Surgical Operations, Inc. | Control system for reducing internally generated frictional and inertial resistance to manual positioning of a surgical manipulator |
| US8054752B2 (en) | 2005-12-22 | 2011-11-08 | Intuitive Surgical Operations, Inc. | Synchronous data communication |
| ES2292327B1 (es) | 2005-12-26 | 2009-04-01 | Consejo Superior Investigaciones Cientificas | Mini camara gamma autonoma y con sistema de localizacion, para uso intraquirurgico. |
| US7930065B2 (en) | 2005-12-30 | 2011-04-19 | Intuitive Surgical Operations, Inc. | Robotic surgery system including position sensors using fiber bragg gratings |
| JP5152993B2 (ja) | 2005-12-30 | 2013-02-27 | インテュイティブ サージカル インコーポレイテッド | モジュール式力センサ |
| US7907166B2 (en) | 2005-12-30 | 2011-03-15 | Intuitive Surgical Operations, Inc. | Stereo telestration for robotic surgery |
| US7533892B2 (en) | 2006-01-05 | 2009-05-19 | Intuitive Surgical, Inc. | Steering system for heavy mobile medical equipment |
| KR100731052B1 (ko) | 2006-01-23 | 2007-06-22 | 한양대학교 산학협력단 | 미세침습 수술을 위한 컴퓨터통합 수술 보조시스템 |
| US8162926B2 (en) | 2006-01-25 | 2012-04-24 | Intuitive Surgical Operations Inc. | Robotic arm with five-bar spherical linkage |
| US8142420B2 (en) | 2006-01-25 | 2012-03-27 | Intuitive Surgical Operations Inc. | Robotic arm with five-bar spherical linkage |
| US20110295295A1 (en) | 2006-01-31 | 2011-12-01 | Ethicon Endo-Surgery, Inc. | Robotically-controlled surgical instrument having recording capabilities |
| US7845537B2 (en) | 2006-01-31 | 2010-12-07 | Ethicon Endo-Surgery, Inc. | Surgical instrument having recording capabilities |
| EP1815950A1 (en) | 2006-02-03 | 2007-08-08 | The European Atomic Energy Community (EURATOM), represented by the European Commission | Robotic surgical system for performing minimally invasive medical procedures |
| US8219177B2 (en) | 2006-02-16 | 2012-07-10 | Catholic Healthcare West | Method and system for performing invasive medical procedures using a surgical robot |
| US8219178B2 (en) | 2007-02-16 | 2012-07-10 | Catholic Healthcare West | Method and system for performing invasive medical procedures using a surgical robot |
| US8526688B2 (en) | 2006-03-09 | 2013-09-03 | General Electric Company | Methods and systems for registration of surgical navigation data and image data |
| EP2004071B1 (en) | 2006-03-30 | 2013-05-15 | Koninklijke Philips Electronics N.V. | Targeting device, computer readable medium and program element |
| US20070233238A1 (en) | 2006-03-31 | 2007-10-04 | Medtronic Vascular, Inc. | Devices for Imaging and Navigation During Minimally Invasive Non-Bypass Cardiac Procedures |
| WO2007120744A2 (en) | 2006-04-14 | 2007-10-25 | William Beaumont Hospital | Scanning slot cone-beam computed tomography and scanning focus spot cone-beam computed tomography |
| US8112292B2 (en) | 2006-04-21 | 2012-02-07 | Medtronic Navigation, Inc. | Method and apparatus for optimizing a therapy |
| US8021310B2 (en) | 2006-04-21 | 2011-09-20 | Nellcor Puritan Bennett Llc | Work of breathing display for a ventilation system |
| US7940999B2 (en) | 2006-04-24 | 2011-05-10 | Siemens Medical Solutions Usa, Inc. | System and method for learning-based 2D/3D rigid registration for image-guided surgery using Jensen-Shannon divergence |
| US20090259123A1 (en) | 2006-05-16 | 2009-10-15 | Surgiceye Gmbh | Method and device for 3d acquisition, 3d visualization and computer guided surgery using nuclear probes |
| US20080004523A1 (en) | 2006-06-29 | 2008-01-03 | General Electric Company | Surgical tool guide |
| DE102006032127B4 (de) | 2006-07-05 | 2008-04-30 | Aesculap Ag & Co. Kg | Kalibrierverfahren und Kalibriervorrichtung für eine chirurgische Referenzierungseinheit |
| US20080013809A1 (en) | 2006-07-14 | 2008-01-17 | Bracco Imaging, Spa | Methods and apparatuses for registration in image guided surgery |
| EP1886640B1 (de) | 2006-08-08 | 2009-11-18 | BrainLAB AG | Planungsverfahren und System zur Freiform-Implantatsanpassung |
| EP2053972B1 (en) | 2006-08-17 | 2013-09-11 | Koninklijke Philips Electronics N.V. | Computed tomography image acquisition |
| DE102006041033B4 (de) | 2006-09-01 | 2017-01-19 | Siemens Healthcare Gmbh | Verfahren zur Rekonstruktion eines dreidimensionalen Bildvolumens |
| US8231610B2 (en) | 2006-09-06 | 2012-07-31 | National Cancer Center | Robotic surgical system for laparoscopic surgery |
| WO2008031077A2 (en) | 2006-09-08 | 2008-03-13 | Hansen Medical, Inc. | Robotic surgical system with forward-oriented field of view guide instrument navigation |
| US8532741B2 (en) | 2006-09-08 | 2013-09-10 | Medtronic, Inc. | Method and apparatus to optimize electrode placement for neurological stimulation |
| US8150498B2 (en) | 2006-09-08 | 2012-04-03 | Medtronic, Inc. | System for identification of anatomical landmarks |
| US8150497B2 (en) | 2006-09-08 | 2012-04-03 | Medtronic, Inc. | System for navigating a planned procedure within a body |
| US8248413B2 (en) | 2006-09-18 | 2012-08-21 | Stryker Corporation | Visual navigation system for endoscopic surgery |
| JP5609112B2 (ja) | 2006-09-25 | 2014-10-22 | メイザー ロボティックス リミテッド | 三次元画像データの作成方法 |
| US8660635B2 (en) | 2006-09-29 | 2014-02-25 | Medtronic, Inc. | Method and apparatus for optimizing a computer assisted surgical procedure |
| US8052688B2 (en) | 2006-10-06 | 2011-11-08 | Wolf Ii Erich | Electromagnetic apparatus and method for nerve localization during spinal surgery |
| US20080144906A1 (en) | 2006-10-09 | 2008-06-19 | General Electric Company | System and method for video capture for fluoroscopy and navigation |
| US20080109012A1 (en) | 2006-11-03 | 2008-05-08 | General Electric Company | System, method and apparatus for tableside remote connections of medical instruments and systems using wireless communications |
| US8551114B2 (en) | 2006-11-06 | 2013-10-08 | Human Robotics S.A. De C.V. | Robotic surgical device |
| US20080108912A1 (en) | 2006-11-07 | 2008-05-08 | General Electric Company | System and method for measurement of clinical parameters of the knee for use during knee replacement surgery |
| US20080108991A1 (en) | 2006-11-08 | 2008-05-08 | General Electric Company | Method and apparatus for performing pedicle screw fusion surgery |
| US8682413B2 (en) | 2006-11-15 | 2014-03-25 | General Electric Company | Systems and methods for automated tracker-driven image selection |
| US7935130B2 (en) | 2006-11-16 | 2011-05-03 | Intuitive Surgical Operations, Inc. | Two-piece end-effectors for robotic surgical tools |
| WO2008063494A2 (en) | 2006-11-16 | 2008-05-29 | Vanderbilt University | Apparatus and methods of compensating for organ deformation, registration of internal structures to images, and applications of same |
| US8727618B2 (en) | 2006-11-22 | 2014-05-20 | Siemens Aktiengesellschaft | Robotic device and method for trauma patient diagnosis and therapy |
| US7835557B2 (en) | 2006-11-28 | 2010-11-16 | Medtronic Navigation, Inc. | System and method for detecting status of imaging device |
| US8320991B2 (en) | 2006-12-01 | 2012-11-27 | Medtronic Navigation Inc. | Portable electromagnetic navigation system |
| US7683332B2 (en) | 2006-12-08 | 2010-03-23 | Rush University Medical Center | Integrated single photon emission computed tomography (SPECT)/transmission computed tomography (TCT) system for cardiac imaging |
| US7683331B2 (en) | 2006-12-08 | 2010-03-23 | Rush University Medical Center | Single photon emission computed tomography (SPECT) system for cardiac imaging |
| US8556807B2 (en) | 2006-12-21 | 2013-10-15 | Intuitive Surgical Operations, Inc. | Hermetically sealed distal sensor endoscope |
| US20080177203A1 (en) | 2006-12-22 | 2008-07-24 | General Electric Company | Surgical navigation planning system and method for placement of percutaneous instrumentation and implants |
| DE102006061178A1 (de) | 2006-12-22 | 2008-06-26 | Siemens Ag | System zur Durchführung und Überwachung minimal-invasiver Eingriffe |
| US20080161680A1 (en) | 2006-12-29 | 2008-07-03 | General Electric Company | System and method for surgical navigation of motion preservation prosthesis |
| US9220573B2 (en) | 2007-01-02 | 2015-12-29 | Medtronic Navigation, Inc. | System and method for tracking positions of uniform marker geometries |
| US8684253B2 (en) | 2007-01-10 | 2014-04-01 | Ethicon Endo-Surgery, Inc. | Surgical instrument with wireless communication between a control unit of a robotic system and remote sensor |
| US8374673B2 (en) | 2007-01-25 | 2013-02-12 | Warsaw Orthopedic, Inc. | Integrated surgical navigational and neuromonitoring system having automated surgical assistance and control |
| CA2920553C (en) | 2007-02-01 | 2018-11-20 | Interactive Neuroscience Center, Llc | Surgical navigation system for guiding an access member |
| WO2008097853A2 (en) | 2007-02-02 | 2008-08-14 | Hansen Medical, Inc. | Mounting support assembly for suspending a medical instrument driver above an operating table |
| US8600478B2 (en) | 2007-02-19 | 2013-12-03 | Medtronic Navigation, Inc. | Automatic identification of instruments used with a surgical navigation system |
| US8233963B2 (en) | 2007-02-19 | 2012-07-31 | Medtronic Navigation, Inc. | Automatic identification of tracked surgical devices using an electromagnetic localization system |
| DE102007009017B3 (de) | 2007-02-23 | 2008-09-25 | Siemens Ag | Anordnung zur Unterstützung eines perkutanen Eingriffs |
| US10039613B2 (en) | 2007-03-01 | 2018-08-07 | Surgical Navigation Technologies, Inc. | Method for localizing an imaging device with a surgical navigation system |
| US8098914B2 (en) | 2007-03-05 | 2012-01-17 | Siemens Aktiengesellschaft | Registration of CT volumes with fluoroscopic images |
| US20080228068A1 (en) | 2007-03-13 | 2008-09-18 | Viswanathan Raju R | Automated Surgical Navigation with Electro-Anatomical and Pre-Operative Image Data |
| US8821511B2 (en) | 2007-03-15 | 2014-09-02 | General Electric Company | Instrument guide for use with a surgical navigation system |
| US20080235052A1 (en) | 2007-03-19 | 2008-09-25 | General Electric Company | System and method for sharing medical information between image-guided surgery systems |
| US8150494B2 (en) | 2007-03-29 | 2012-04-03 | Medtronic Navigation, Inc. | Apparatus for registering a physical space to image space |
| US7879045B2 (en) | 2007-04-10 | 2011-02-01 | Medtronic, Inc. | System for guiding instruments having different sizes |
| US8560118B2 (en) | 2007-04-16 | 2013-10-15 | Neuroarm Surgical Ltd. | Methods, devices, and systems for non-mechanically restricting and/or programming movement of a tool of a manipulator along a single axis |
| 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 |
| US8010177B2 (en) | 2007-04-24 | 2011-08-30 | Medtronic, Inc. | Intraoperative image registration |
| US8301226B2 (en) | 2007-04-24 | 2012-10-30 | Medtronic, Inc. | Method and apparatus for performing a navigated procedure |
| US8108025B2 (en) | 2007-04-24 | 2012-01-31 | Medtronic, Inc. | Flexible array for use in navigated surgery |
| US8311611B2 (en) | 2007-04-24 | 2012-11-13 | Medtronic, Inc. | Method for performing multiple registrations in a navigated procedure |
| US20090012509A1 (en) | 2007-04-24 | 2009-01-08 | Medtronic, Inc. | Navigated Soft Tissue Penetrating Laser System |
| US8062364B1 (en) | 2007-04-27 | 2011-11-22 | Knee Creations, Llc | Osteoarthritis treatment and device |
| DE102007022122B4 (de) | 2007-05-11 | 2019-07-11 | Deutsches Zentrum für Luft- und Raumfahrt e.V. | Greifvorrichtung für eine Chirurgie-Roboter-Anordnung |
| US8057397B2 (en) | 2007-05-16 | 2011-11-15 | General Electric Company | Navigation and imaging system sychronized with respiratory and/or cardiac activity |
| US20080287771A1 (en) | 2007-05-17 | 2008-11-20 | General Electric Company | Surgical navigation system with electrostatic shield |
| US8934961B2 (en) | 2007-05-18 | 2015-01-13 | Biomet Manufacturing, Llc | Trackable diagnostic scope apparatus and methods of use |
| US20080300477A1 (en) | 2007-05-30 | 2008-12-04 | General Electric Company | System and method for correction of automated image registration |
| US20080300478A1 (en) | 2007-05-30 | 2008-12-04 | General Electric Company | System and method for displaying real-time state of imaged anatomy during a surgical procedure |
| US9468412B2 (en) | 2007-06-22 | 2016-10-18 | General Electric Company | System and method for accuracy verification for image based surgical navigation |
| EP2170564A4 (en) | 2007-07-12 | 2015-10-07 | Univ Nebraska | METHODS AND SYSTEMS FOR ACTUATION IN ROBOTIC DEVICES |
| US7834484B2 (en) | 2007-07-16 | 2010-11-16 | Tyco Healthcare Group Lp | Connection cable and method for activating a voltage-controlled generator |
| US20090024129A1 (en) | 2007-07-19 | 2009-01-22 | Jeremy Gordon | Perforator with inner and outer drills and a drive head, the inner drill configured to move against the outer drill in order to disengage from the drive head |
| JP2009045428A (ja) | 2007-07-25 | 2009-03-05 | Terumo Corp | 操作機構、医療用マニピュレータ及び手術用ロボットシステム |
| WO2009018086A2 (en) | 2007-07-27 | 2009-02-05 | The Cleveland Clinic Foundation | Oblique lumbar interbody fusion |
| US8035685B2 (en) | 2007-07-30 | 2011-10-11 | General Electric Company | Systems and methods for communicating video data between a mobile imaging system and a fixed monitor system |
| US8328818B1 (en) | 2007-08-31 | 2012-12-11 | Globus Medical, Inc. | Devices and methods for treating bone |
| US8092370B2 (en) | 2007-09-19 | 2012-01-10 | Sriort, LLC | Direct visualization robotic intra-operative radiation therapy applicator device |
| US20090080737A1 (en) | 2007-09-25 | 2009-03-26 | General Electric Company | System and Method for Use of Fluoroscope and Computed Tomography Registration for Sinuplasty Navigation |
| US8224484B2 (en) | 2007-09-30 | 2012-07-17 | Intuitive Surgical Operations, Inc. | Methods of user interface with alternate tool mode for robotic surgical tools |
| US9522046B2 (en) | 2010-08-23 | 2016-12-20 | Gip | Robotic surgery system |
| WO2009060344A2 (en) | 2007-11-06 | 2009-05-14 | Koninklijke Philips Electronics, N.V. | Nuclear medicine spect-ct machine with integrated asymmetric flat panel cone-beam ct and spect system |
| DE102007055203A1 (de) | 2007-11-19 | 2009-05-20 | Kuka Roboter Gmbh | Einen Roboter aufweisende Vorrichtung, medizinischer Arbeitsplatz und Verfahren zum Registrieren eines Objekts |
| US8561473B2 (en) | 2007-12-18 | 2013-10-22 | Intuitive Surgical Operations, Inc. | Force sensor temperature compensation |
| EP2224852A1 (en) | 2007-12-21 | 2010-09-08 | Koninklijke Philips Electronics N.V. | Synchronous interventional scanner |
| US8400094B2 (en) | 2007-12-21 | 2013-03-19 | Intuitive Surgical Operations, Inc. | Robotic surgical system with patient support |
| US8864798B2 (en) | 2008-01-18 | 2014-10-21 | Globus Medical, Inc. | Transverse connector |
| CA2716121A1 (en) | 2008-01-30 | 2009-08-06 | The Trustees Of Columbia University In The City Of New York | Systems, devices, and methods for robot-assisted micro-surgical stenting |
| US20090198121A1 (en) | 2008-02-01 | 2009-08-06 | Martin Hoheisel | Method and apparatus for coordinating contrast agent injection and image acquisition in c-arm computed tomography |
| US8573465B2 (en) | 2008-02-14 | 2013-11-05 | Ethicon Endo-Surgery, Inc. | Robotically-controlled surgical end effector system with rotary actuated closure systems |
| US8696458B2 (en) | 2008-02-15 | 2014-04-15 | Thales Visionix, Inc. | Motion tracking system and method using camera and non-camera sensors |
| US7925653B2 (en) | 2008-02-27 | 2011-04-12 | General Electric Company | Method and system for accessing a group of objects in an electronic document |
| US20090228019A1 (en) | 2008-03-10 | 2009-09-10 | Yosef Gross | Robotic surgical system |
| US8282653B2 (en) | 2008-03-24 | 2012-10-09 | Board Of Regents Of The University Of Nebraska | System and methods for controlling surgical tool elements |
| ES2569501T3 (es) | 2008-03-28 | 2016-05-11 | Telefonaktiebolaget Lm Ericsson (Publ) | Identificación de una estación base manipulada o con defectos durante un traspaso |
| US8808164B2 (en) | 2008-03-28 | 2014-08-19 | Intuitive Surgical Operations, Inc. | Controlling a robotic surgical tool with a display monitor |
| US7843158B2 (en) | 2008-03-31 | 2010-11-30 | Intuitive Surgical Operations, Inc. | Medical robotic system adapted to inhibit motions resulting in excessive end effector forces |
| US8333755B2 (en) | 2008-03-31 | 2012-12-18 | Intuitive Surgical Operations, Inc. | Coupler to transfer controller motion from a robotic manipulator to an attached instrument |
| US7886743B2 (en) | 2008-03-31 | 2011-02-15 | Intuitive Surgical Operations, Inc. | Sterile drape interface for robotic surgical instrument |
| US9002076B2 (en) | 2008-04-15 | 2015-04-07 | Medtronic, Inc. | Method and apparatus for optimal trajectory planning |
| US9345875B2 (en) | 2008-04-17 | 2016-05-24 | Medtronic, Inc. | Method and apparatus for cannula fixation for an array insertion tube set |
| US8167793B2 (en) | 2008-04-26 | 2012-05-01 | Intuitive Surgical Operations, Inc. | Augmented stereoscopic visualization for a surgical robot using time duplexing |
| WO2009134367A1 (en) | 2008-04-30 | 2009-11-05 | Nanosys, Inc. | Non-fouling surfaces for reflective spheres |
| US9579161B2 (en) | 2008-05-06 | 2017-02-28 | Medtronic Navigation, Inc. | Method and apparatus for tracking a patient |
| WO2009151206A1 (ko) | 2008-06-09 | 2009-12-17 | (주)미래컴퍼니 | 수술용 로봇의 마스터 인터페이스 및 구동방법 |
| TW201004607A (en) | 2008-07-25 | 2010-02-01 | Been-Der Yang | Image guided navigation system and method thereof |
| US8054184B2 (en) | 2008-07-31 | 2011-11-08 | Intuitive Surgical Operations, Inc. | Identification of surgical instrument attached to surgical robot |
| US8771170B2 (en) | 2008-08-01 | 2014-07-08 | Microaccess, Inc. | Methods and apparatus for transesophageal microaccess surgery |
| JP2010035984A (ja) | 2008-08-08 | 2010-02-18 | Canon Inc | Ｘ線撮影装置 |
| ES2608820T3 (es) | 2008-08-15 | 2017-04-17 | Stryker European Holdings I, Llc | Sistema y método de visualización del interior de un cuerpo |
| EP2323578B1 (en) | 2008-08-18 | 2018-10-03 | Encision, Inc. | Enhanced control systems including flexible shielding and support systems for electrosurgical applications |
| DE102008041813B4 (de) | 2008-09-04 | 2013-06-20 | Carl Zeiss Microscopy Gmbh | Verfahren zur Tiefenanalyse einer organischen Probe |
| US7900524B2 (en) | 2008-09-09 | 2011-03-08 | Intersense, Inc. | Monitoring tools |
| US8165658B2 (en) | 2008-09-26 | 2012-04-24 | Medtronic, Inc. | Method and apparatus for positioning a guide relative to a base |
| US8073335B2 (en) | 2008-09-30 | 2011-12-06 | Intuitive Surgical Operations, Inc. | Operator input device for a robotic surgical system |
| CN102177430B (zh) | 2008-10-10 | 2014-04-02 | 皇家飞利浦电子股份有限公司 | 使用经移位的几何结构改进ct图像采集的方法和设备 |
| KR100944412B1 (ko) | 2008-10-13 | 2010-02-25 | (주)미래컴퍼니 | 수술용 슬레이브 로봇 |
| WO2010044852A2 (en) | 2008-10-14 | 2010-04-22 | University Of Florida Research Foundation, Inc. | Imaging platform to provide integrated navigation capabilities for surgical guidance |
| US8700123B2 (en) | 2008-10-20 | 2014-04-15 | The Johns Hopkins University | Environment property estimaton and graphical display |
| EP2455038B1 (de) | 2008-10-21 | 2015-04-01 | Brainlab AG | Integration von chirurgischem Instrument und Anzeigevorrichtung zur Unterstützung der bildgeführten Chirurgie |
| KR101075363B1 (ko) | 2008-10-31 | 2011-10-19 | 정창욱 | 최소 침습 수술 도구를 포함하는 수술용 로봇 시스템 |
| US9040087B2 (en) | 2008-10-31 | 2015-05-26 | The Invention Science Fund I, Llc | Frozen compositions and methods for piercing a substrate |
| US9033958B2 (en) | 2008-11-11 | 2015-05-19 | Perception Raisonnement Action En Medecine | Surgical robotic system |
| TWI435705B (zh) | 2008-11-20 | 2014-05-01 | Been Der Yang | 手術用定位裝置及應用其之影像導航系統 |
| WO2010061810A1 (ja) | 2008-11-27 | 2010-06-03 | 株式会社 日立メディコ | 放射線撮像装置 |
| US8483800B2 (en) | 2008-11-29 | 2013-07-09 | General Electric Company | Surgical navigation enabled imaging table environment |
| CN105395253A (zh) | 2008-12-01 | 2016-03-16 | 马佐尔机器人有限公司 | 机器人引导的倾斜脊柱稳定化 |
| ES2341079B1 (es) | 2008-12-11 | 2011-07-13 | Fundacio Clinic Per A La Recerca Biomedica | Equipo para vision mejorada por infrarrojo de estructuras vasculares,aplicable para asistir intervenciones fetoscopicas, laparoscopicas y endoscopicas y proceso de tratamiento de la señal para mejorar dicha vision. |
| US8021393B2 (en) | 2008-12-12 | 2011-09-20 | Globus Medical, Inc. | Lateral spinous process spacer with deployable wings |
| US8830224B2 (en) | 2008-12-31 | 2014-09-09 | Intuitive Surgical Operations, Inc. | Efficient 3-D telestration for local robotic proctoring |
| US8594841B2 (en) | 2008-12-31 | 2013-11-26 | Intuitive Surgical Operations, Inc. | Visual force feedback in a minimally invasive surgical procedure |
| 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 |
| US20110286573A1 (en) | 2009-01-21 | 2011-11-24 | Koninklijke Philips Electronics N.V. | Method and apparatus for large field of view imaging and detection and compensation of motion artifacts |
| EP2381877B1 (en) | 2009-01-29 | 2018-02-28 | Imactis | Method and device for navigation of a surgical tool |
| KR101038417B1 (ko) | 2009-02-11 | 2011-06-01 | 주식회사 이턴 | 수술 로봇 시스템 및 그 제어 방법 |
| US8418073B2 (en) | 2009-03-09 | 2013-04-09 | Intuitive Surgical Operations, Inc. | User interfaces for electrosurgical tools in robotic surgical systems |
| US8120301B2 (en) | 2009-03-09 | 2012-02-21 | Intuitive Surgical Operations, Inc. | Ergonomic surgeon control console in robotic surgical systems |
| US9737235B2 (en) | 2009-03-09 | 2017-08-22 | Medtronic Navigation, Inc. | System and method for image-guided navigation |
| US8918207B2 (en) | 2009-03-09 | 2014-12-23 | Intuitive Surgical Operations, Inc. | Operator input device for a robotic surgical system |
| US20120053597A1 (en) | 2009-03-10 | 2012-03-01 | Mcmaster University | Mobile robotic surgical system |
| US8335552B2 (en) | 2009-03-20 | 2012-12-18 | Medtronic, Inc. | Method and apparatus for instrument placement |
| CN105342705A (zh) | 2009-03-24 | 2016-02-24 | 伊顿株式会社 | 利用增强现实技术的手术机器人系统及其控制方法 |
| US20100249571A1 (en) | 2009-03-31 | 2010-09-30 | General Electric Company | Surgical navigation system with wireless magnetoresistance tracking sensors |
| US8882803B2 (en) | 2009-04-01 | 2014-11-11 | Globus Medical, Inc. | Orthopedic clamp and extension rod |
| WO2010124285A1 (en) | 2009-04-24 | 2010-10-28 | Medtronic Inc. | Electromagnetic navigation of medical instruments for cardiothoracic surgery |
| WO2010144219A1 (en) | 2009-05-18 | 2010-12-16 | Loma Linda University | Method and devices for performing minimally invasive surgery |
| ES2388029B1 (es) | 2009-05-22 | 2013-08-13 | Universitat Politècnica De Catalunya | Sistema robótico para cirugia laparoscópica. |
| CN101897593B (zh) | 2009-05-26 | 2014-08-13 | 清华大学 | 一种计算机层析成像设备和方法 |
| US8121249B2 (en) | 2009-06-04 | 2012-02-21 | Virginia Tech Intellectual Properties, Inc. | Multi-parameter X-ray computed tomography |
| WO2011013164A1 (ja) | 2009-07-27 | 2011-02-03 | 株式会社島津製作所 | 放射線撮影装置 |
| BR212012002342U2 (pt) | 2009-08-06 | 2015-11-03 | Koninkl Philips Electronics Nv | método de geração de uma imagem de um objeto com o uso de um aparelho de imagens que ten um detector, aparelho de formação de imagens médicas adaptado para gerar uma imagem de um objeto, e, sistema de formação de imagens combinadas de raios x e spect |
| WO2011021192A1 (en) | 2009-08-17 | 2011-02-24 | Mazor Surgical Technologies Ltd. | Device for improving the accuracy of manual operations |
| US9844414B2 (en) | 2009-08-31 | 2017-12-19 | Gregory S. Fischer | System and method for robotic surgical intervention in a magnetic resonance imager |
| EP2298223A1 (en) | 2009-09-21 | 2011-03-23 | Stryker Leibinger GmbH & Co. KG | Technique for registering image data of an object |
| US8465476B2 (en) | 2009-09-23 | 2013-06-18 | Intuitive Surgical Operations, Inc. | Cannula mounting fixture |
| WO2011038759A1 (en) | 2009-09-30 | 2011-04-07 | Brainlab Ag | Two-part medical tracking marker |
| NL1037348C2 (en) | 2009-10-02 | 2011-04-05 | Univ Eindhoven Tech | Surgical robot, instrument manipulator, combination of an operating table and a surgical robot, and master-slave operating system. |
| US8685098B2 (en) | 2010-06-25 | 2014-04-01 | Globus Medical, Inc. | Expandable fusion device and method of installation thereof |
| US8679183B2 (en) | 2010-06-25 | 2014-03-25 | Globus Medical | Expandable fusion device and method of installation thereof |
| US8062375B2 (en) | 2009-10-15 | 2011-11-22 | Globus Medical, Inc. | Expandable fusion device and method of installation thereof |
| US8556979B2 (en) | 2009-10-15 | 2013-10-15 | Globus Medical, Inc. | Expandable fusion device and method of installation thereof |
| US20110098553A1 (en) | 2009-10-28 | 2011-04-28 | Steven Robbins | Automatic registration of images for image guided surgery |
| USD631966S1 (en) | 2009-11-10 | 2011-02-01 | Globus Medical, Inc. | Basilar invagination implant |
| US8521331B2 (en) | 2009-11-13 | 2013-08-27 | Intuitive Surgical Operations, Inc. | Patient-side surgeon interface for a minimally invasive, teleoperated surgical instrument |
| US20110137152A1 (en) | 2009-12-03 | 2011-06-09 | General Electric Company | System and method for cooling components of a surgical navigation system |
| US8277509B2 (en) | 2009-12-07 | 2012-10-02 | Globus Medical, Inc. | Transforaminal prosthetic spinal disc apparatus |
| CN102651998B (zh) | 2009-12-10 | 2015-08-05 | 皇家飞利浦电子股份有限公司 | 用于微分相衬成像的扫描系统 |
| US8694075B2 (en) | 2009-12-21 | 2014-04-08 | General Electric Company | Intra-operative registration for navigated surgical procedures |
| US8353963B2 (en) | 2010-01-12 | 2013-01-15 | Globus Medical | Expandable spacer and method for use thereof |
| US9381045B2 (en) | 2010-01-13 | 2016-07-05 | Jcbd, Llc | Sacroiliac joint implant and sacroiliac joint instrument for fusing a sacroiliac joint |
| JP5795599B2 (ja) | 2010-01-13 | 2015-10-14 | コーニンクレッカ フィリップス エヌ ヴェ | 内視鏡手術のための画像統合ベースレジストレーション及びナビゲーション |
| WO2011085814A1 (en) | 2010-01-14 | 2011-07-21 | Brainlab Ag | Controlling and/or operating a medical device by means of a light pointer |
| US9039769B2 (en) | 2010-03-17 | 2015-05-26 | Globus Medical, Inc. | Intervertebral nucleus and annulus implants and method of use thereof |
| US20110238080A1 (en) | 2010-03-25 | 2011-09-29 | Date Ranjit | Robotic Surgical Instrument System |
| US20140330288A1 (en) | 2010-03-25 | 2014-11-06 | Precision Automation And Robotics India Ltd. | Articulating Arm for a Robotic Surgical Instrument System |
| IT1401669B1 (it) | 2010-04-07 | 2013-08-02 | Sofar Spa | Sistema di chirurgia robotizzata con controllo perfezionato. |
| US8870880B2 (en) | 2010-04-12 | 2014-10-28 | Globus Medical, Inc. | Angling inserter tool for expandable vertebral implant |
| IT1399603B1 (it) | 2010-04-26 | 2013-04-26 | Scuola Superiore Di Studi Universitari E Di Perfez | Apparato robotico per interventi di chirurgia minimamente invasiva |
| US8717430B2 (en) | 2010-04-26 | 2014-05-06 | Medtronic Navigation, Inc. | System and method for radio-frequency imaging, registration, and localization |
| WO2011134083A1 (en) | 2010-04-28 | 2011-11-03 | Ryerson University | System and methods for intraoperative guidance feedback |
| EP2566392A4 (en) | 2010-05-04 | 2015-07-15 | Pathfinder Therapeutics Inc | SYSTEM AND METHOD FOR MATCHING ABDOMINAL SURFACES USING PSEUDO-CHARACTERISTICS |
| US8738115B2 (en) | 2010-05-11 | 2014-05-27 | Siemens Aktiengesellschaft | Method and apparatus for selective internal radiation therapy planning and implementation |
| DE102010020284A1 (de) | 2010-05-12 | 2011-11-17 | Siemens Aktiengesellschaft | Bestimmung von 3D-Positionen und -Orientierungen von chirurgischen Objekten aus 2D-Röntgenbildern |
| US8746252B2 (en) | 2010-05-14 | 2014-06-10 | Intuitive Surgical Operations, Inc. | Surgical system sterile drape |
| US8603077B2 (en) | 2010-05-14 | 2013-12-10 | Intuitive Surgical Operations, Inc. | Force transmission for robotic surgical instrument |
| US8883210B1 (en) | 2010-05-14 | 2014-11-11 | Musculoskeletal Transplant Foundation | Tissue-derived tissuegenic implants, and methods of fabricating and using same |
| KR101181569B1 (ko) | 2010-05-25 | 2012-09-10 | 정창욱 | 단일 통로 수술 모드와 다통로 수술 모드를 실현할 수 있는 수술용 로봇 시스템 및 그 제어 방법 |
| US20110295370A1 (en) | 2010-06-01 | 2011-12-01 | Sean Suh | Spinal Implants and Methods of Use Thereof |
| DE102010026674B4 (de) | 2010-07-09 | 2012-09-27 | Siemens Aktiengesellschaft | Bildgebungsvorrichtung und Strahlentherapiegerät |
| US8675939B2 (en) | 2010-07-13 | 2014-03-18 | Stryker Leibinger Gmbh & Co. Kg | Registration of anatomical data sets |
| US20130094742A1 (en) | 2010-07-14 | 2013-04-18 | Thomas Feilkas | Method and system for determining an imaging direction and calibration of an imaging apparatus |
| US20120035507A1 (en) | 2010-07-22 | 2012-02-09 | Ivan George | Device and method for measuring anatomic geometries |
| US8740882B2 (en) | 2010-07-30 | 2014-06-03 | Lg Electronics Inc. | Medical robotic system and method of controlling the same |
| US10264947B2 (en) | 2010-08-20 | 2019-04-23 | Veran Medical Technologies, Inc. | Apparatus and method for airway registration and navigation |
| JP2012045278A (ja) | 2010-08-30 | 2012-03-08 | Fujifilm Corp | Ｘ線画像撮影装置およびｘ線画像撮影方法 |
| WO2012030304A1 (en) | 2010-09-01 | 2012-03-08 | Agency For Science, Technology And Research | A robotic device for use in image-guided robot assisted surgical training |
| KR20120030174A (ko) | 2010-09-17 | 2012-03-28 | 삼성전자주식회사 | 촉각 피드백을 제공하는 수술 로봇 시스템 및 수술 장치, 그리고 그의 촉각 피드백 제공 방법 |
| EP2431003B1 (en) | 2010-09-21 | 2018-03-21 | Medizinische Universität Innsbruck | Registration device, system, kit and method for a patient registration |
| US8679125B2 (en) | 2010-09-22 | 2014-03-25 | Biomet Manufacturing, Llc | Robotic guided femoral head reshaping |
| US8657809B2 (en) | 2010-09-29 | 2014-02-25 | Stryker Leibinger Gmbh & Co., Kg | Surgical navigation system |
| US8718346B2 (en) | 2011-10-05 | 2014-05-06 | Saferay Spine Llc | Imaging system and method for use in surgical and interventional medical procedures |
| US8526700B2 (en) | 2010-10-06 | 2013-09-03 | Robert E. Isaacs | Imaging system and method for surgical and interventional medical procedures |
| US9913693B2 (en) | 2010-10-29 | 2018-03-13 | Medtronic, Inc. | Error correction techniques in surgical navigation |
| AU2011344107A1 (en) | 2010-12-13 | 2013-06-27 | Ortho Kinematics, Inc. | Methods, systems and devices for clinical data reporting and surgical navigation |
| US8876866B2 (en) | 2010-12-13 | 2014-11-04 | Globus Medical, Inc. | Spinous process fusion devices and methods thereof |
| CA2822287C (en) | 2010-12-22 | 2020-06-30 | Viewray Incorporated | System and method for image guidance during medical procedures |
| US20130281821A1 (en) | 2011-01-13 | 2013-10-24 | Koninklijke Philips Electronics N.V. | Intraoperative camera calibration for endoscopic surgery |
| KR101181613B1 (ko) | 2011-02-21 | 2012-09-10 | 윤상진 | 사용자 지정에 따라 결정되는 변위 정보에 기초하여 수술을 수행하는 수술용 로봇 시스템과 그 제어 방법 |
| US20120226145A1 (en) | 2011-03-03 | 2012-09-06 | National University Of Singapore | Transcutaneous robot-assisted ablation-device insertion navigation system |
| US9026247B2 (en) | 2011-03-30 | 2015-05-05 | University of Washington through its Center for Communication | Motion and video capture for tracking and evaluating robotic surgery and associated systems and methods |
| WO2012131660A1 (en) | 2011-04-01 | 2012-10-04 | Ecole Polytechnique Federale De Lausanne (Epfl) | Robotic system for spinal and other surgeries |
| US20120256092A1 (en) | 2011-04-06 | 2012-10-11 | General Electric Company | Ct system for use in multi-modality imaging system |
| US20150213633A1 (en) | 2011-04-06 | 2015-07-30 | The Trustees Of Columbia University In The City Of New York | System, method and computer-accessible medium for providing a panoramic cone beam computed tomography (cbct) |
| WO2012149548A2 (en) | 2011-04-29 | 2012-11-01 | The Johns Hopkins University | System and method for tracking and navigation |
| EP2719353A4 (en) | 2011-06-06 | 2015-04-22 | Nozomu Matsumoto | METHOD FOR MANUFACTURING RECORDING MATRIX |
| US8498744B2 (en) | 2011-06-30 | 2013-07-30 | Mako Surgical Corporation | Surgical robotic systems with manual and haptic and/or active control modes |
| WO2013009887A1 (en) | 2011-07-11 | 2013-01-17 | Board Of Regents Of The University Of Nebraska | Robotic surgical devices, systems and related methods |
| US8818105B2 (en) | 2011-07-14 | 2014-08-26 | Accuray Incorporated | Image registration for image-guided surgery |
| KR20130015146A (ko) | 2011-08-02 | 2013-02-13 | 삼성전자주식회사 | 의료 영상 처리 방법 및 장치, 영상 유도를 이용한 로봇 수술 시스템 |
| US10866783B2 (en) | 2011-08-21 | 2020-12-15 | Transenterix Europe S.A.R.L. | Vocally activated surgical control system |
| US9427330B2 (en) | 2011-09-06 | 2016-08-30 | Globus Medical, Inc. | Spinal plate |
| US8864833B2 (en) | 2011-09-30 | 2014-10-21 | Globus Medical, Inc. | Expandable fusion device and method of installation thereof |
| US9060794B2 (en) | 2011-10-18 | 2015-06-23 | Mako Surgical Corp. | System and method for robotic surgery |
| US8894688B2 (en) | 2011-10-27 | 2014-11-25 | Globus Medical Inc. | Adjustable rod devices and methods of using the same |
| DE102011054910B4 (de) | 2011-10-28 | 2013-10-10 | Ovesco Endoscopy Ag | Magnetischer Endeffektor und Einrichtung zur Führung und Positionierung desselben |
| US8693730B2 (en) | 2011-11-15 | 2014-04-08 | Macdonald Dettwiler & Associates Inc. | Method of real-time tracking of moving/flexible surfaces |
| FR2983059B1 (fr) | 2011-11-30 | 2014-11-28 | Medtech | Procede assiste par robotique de positionnement d'instrument chirurgical par rapport au corps d'un patient et dispositif de mise en oeuvre. |
| EP2787910B1 (en) | 2011-12-05 | 2022-08-03 | Mazor Robotics Ltd. | Active bed mount for surgical robot |
| KR101901580B1 (ko) | 2011-12-23 | 2018-09-28 | 삼성전자주식회사 | 수술 로봇 및 그 제어 방법 |
| FR2985167A1 (fr) | 2011-12-30 | 2013-07-05 | Medtech | Procede medical robotise de surveillance de la respiration d'un patient et de correction de la trajectoire robotisee. |
| CN104185446B (zh) | 2011-12-30 | 2017-04-26 | 玛口外科股份有限公司 | 用于基于图像的机器人外科手术的系统 |
| US9265583B2 (en) | 2011-12-30 | 2016-02-23 | Mako Surgical Corp. | Method for image-based robotic surgery |
| KR20130080909A (ko) | 2012-01-06 | 2013-07-16 | 삼성전자주식회사 | 수술 로봇 및 그 제어 방법 |
| US9138297B2 (en) | 2012-02-02 | 2015-09-22 | Intuitive Surgical Operations, Inc. | Systems and methods for controlling a robotic surgical system |
| US10249036B2 (en) | 2012-02-22 | 2019-04-02 | Veran Medical Technologies, Inc. | Surgical catheter having side exiting medical instrument and related systems and methods for four dimensional soft tissue navigation |
| US11207132B2 (en) | 2012-03-12 | 2021-12-28 | Nuvasive, Inc. | Systems and methods for performing spinal surgery |
| US8855822B2 (en) | 2012-03-23 | 2014-10-07 | Innovative Surgical Solutions, Llc | Robotic surgical system with mechanomyography feedback |
| KR101946000B1 (ko) | 2012-03-28 | 2019-02-08 | 삼성전자주식회사 | 수술용 로봇 시스템 및 로봇 시스템의 제어방법 |
| US8888821B2 (en) | 2012-04-05 | 2014-11-18 | Warsaw Orthopedic, Inc. | Spinal implant measuring system and method |
| EP2838432A4 (en) | 2012-04-16 | 2015-12-30 | Neurologica Corp | WIRELESS IMAGING SYSTEM |
| JP6338570B2 (ja) | 2012-04-16 | 2018-06-06 | ニューロロジカ・コーポレーション | 固定的に装着される基準マーカを伴うイメージングシステム |
| US10383765B2 (en) | 2012-04-24 | 2019-08-20 | Auris Health, Inc. | Apparatus and method for a global coordinate system for use in robotic surgery |
| US20140142591A1 (en) | 2012-04-24 | 2014-05-22 | Auris Surgical Robotics, Inc. | Method, apparatus and a system for robotic assisted surgery |
| WO2013166098A1 (en) | 2012-05-01 | 2013-11-07 | The Johns Hopkins University | Improved method and apparatus for robotically assisted cochlear implant surgery |
| JP2015519108A (ja) | 2012-05-02 | 2015-07-09 | 医百科技股▲ふん▼有限公司 | 口腔内手術中の補助ガイド方法 |
| US9125556B2 (en) | 2012-05-14 | 2015-09-08 | Mazor Robotics Ltd. | Robotic guided endoscope |
| US10092256B2 (en) | 2012-05-18 | 2018-10-09 | Carestream Health, Inc. | Cone beam computed tomography volumetric imaging system |
| KR20130132109A (ko) | 2012-05-25 | 2013-12-04 | 삼성전자주식회사 | 서포터 장치 및 이를 채용한 수술 로봇 시스템 |
| EP2854692B1 (en) | 2012-06-01 | 2022-07-20 | Intuitive Surgical Operations, Inc. | Multi-port surgical robotic system architecture |
| EP3424651B1 (en) | 2012-06-22 | 2020-02-12 | Board of Regents of the University of Nebraska | Local control robotic surgical devices |
| US20130345757A1 (en) | 2012-06-22 | 2013-12-26 | Shawn D. Stad | Image Guided Intra-Operative Contouring Aid |
| US9226751B2 (en) | 2012-06-28 | 2016-01-05 | Ethicon Endo-Surgery, Inc. | Surgical instrument system including replaceable end effectors |
| US8880223B2 (en) | 2012-07-16 | 2014-11-04 | Florida Institute for Human & Maching Cognition | Anthro-centric multisensory interface for sensory augmentation of telesurgery |
| US20140031664A1 (en) | 2012-07-30 | 2014-01-30 | Mako Surgical Corp. | Radiographic imaging device |
| KR101997566B1 (ko) | 2012-08-07 | 2019-07-08 | 삼성전자주식회사 | 수술 로봇 시스템 및 그 제어방법 |
| US9770305B2 (en) | 2012-08-08 | 2017-09-26 | Board Of Regents Of The University Of Nebraska | Robotic surgical devices, systems, and related methods |
| WO2014025399A1 (en) | 2012-08-08 | 2014-02-13 | Board Of Regents Of The University Of Nebraska | Robotic surgical devices, systems, and related methods |
| US10110785B2 (en) | 2012-08-10 | 2018-10-23 | Karl Storz Imaging, Inc. | Deployable imaging system equipped with solid state imager |
| CN104717935B (zh) | 2012-08-15 | 2018-04-06 | 直观外科手术操作公司 | 利用零空间取消关节运动的系统 |
| BR112015003964A2 (pt) | 2012-08-24 | 2017-07-04 | Univ Houston | dispositivo robótico e sistemas para cirurgia guiada por imagem e assistida por robô |
| US20140080086A1 (en) | 2012-09-20 | 2014-03-20 | Roger Chen | Image Navigation Integrated Dental Implant System |
| US8892259B2 (en) | 2012-09-26 | 2014-11-18 | Innovative Surgical Solutions, LLC. | Robotic surgical system with mechanomyography feedback |
| US9757160B2 (en) | 2012-09-28 | 2017-09-12 | Globus Medical, Inc. | Device and method for treatment of spinal deformity |
| KR102038632B1 (ko) | 2012-11-06 | 2019-10-30 | 삼성전자주식회사 | 수술용 인스트루먼트, 서포터 장치, 및 수술 로봇 시스템 |
| KR20150084801A (ko) | 2012-11-14 | 2015-07-22 | 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 | 충돌 회피용 스마트 드레이프 |
| KR102079945B1 (ko) | 2012-11-22 | 2020-02-21 | 삼성전자주식회사 | 수술 로봇 및 수술 로봇 제어 방법 |
| US9008752B2 (en) | 2012-12-14 | 2015-04-14 | Medtronic, Inc. | Method to determine distribution of a material by an infused magnetic resonance image contrast agent |
| US9393361B2 (en) | 2012-12-14 | 2016-07-19 | Medtronic, Inc. | Method to determine a material distribution |
| US9001962B2 (en) | 2012-12-20 | 2015-04-07 | Triple Ring Technologies, Inc. | Method and apparatus for multiple X-ray imaging applications |
| DE102013004459A1 (de) | 2012-12-20 | 2014-06-26 | avateramedical GmBH | Halterungs- und Positioniervorrichtung eines chirurgischen Instruments und/oder eines Endoskops für die minimal-invasive Chirurgie sowie ein chirurgisches Robotersystem |
| DE102012025101A1 (de) | 2012-12-20 | 2014-06-26 | avateramedical GmBH | Aktive Positioniereinrichtung eines chirurgischen Instruments und ein diese umfassendes chirurgisches Robotersystem |
| US9002437B2 (en) | 2012-12-27 | 2015-04-07 | General Electric Company | Method and system for position orientation correction in navigation |
| US10028788B2 (en) | 2012-12-31 | 2018-07-24 | Mako Surgical Corp. | System for image-based robotic surgery |
| KR20140090374A (ko) | 2013-01-08 | 2014-07-17 | 삼성전자주식회사 | 싱글 포트 수술 로봇 및 그 제어 방법 |
| CN103969269B (zh) | 2013-01-31 | 2018-09-18 | Ge医疗系统环球技术有限公司 | 用于几何校准ct扫描仪的方法和装置 |
| US20140221819A1 (en) | 2013-02-01 | 2014-08-07 | David SARMENT | Apparatus, system and method for surgical navigation |
| ES2804681T3 (es) | 2013-02-04 | 2021-02-09 | Childrens Nat Medical Ct | Sistema robótico quirúrgico de control híbrido |
| KR20140102465A (ko) | 2013-02-14 | 2014-08-22 | 삼성전자주식회사 | 수술 로봇 및 그 제어방법 |
| KR102117270B1 (ko) | 2013-03-06 | 2020-06-01 | 삼성전자주식회사 | 수술 로봇 시스템 및 그 제어방법 |
| KR20140110685A (ko) | 2013-03-08 | 2014-09-17 | 삼성전자주식회사 | 싱글 포트 수술 로봇의 제어 방법 |
| KR20140110620A (ko) | 2013-03-08 | 2014-09-17 | 삼성전자주식회사 | 수술 로봇 시스템 및 그 작동 방법 |
| US9314308B2 (en) | 2013-03-13 | 2016-04-19 | Ethicon Endo-Surgery, Llc | Robotic ultrasonic surgical device with articulating end effector |
| KR20140112207A (ko) | 2013-03-13 | 2014-09-23 | 삼성전자주식회사 | 증강현실 영상 표시 시스템 및 이를 포함하는 수술 로봇 시스템 |
| KR102119534B1 (ko) | 2013-03-13 | 2020-06-05 | 삼성전자주식회사 | 수술 로봇 및 그 제어방법 |
| US9743987B2 (en) | 2013-03-14 | 2017-08-29 | Board Of Regents Of The University Of Nebraska | Methods, systems, and devices relating to robotic surgical devices, end effectors, and controllers |
| US9629595B2 (en) | 2013-03-15 | 2017-04-25 | Hansen Medical, Inc. | Systems and methods for localizing, tracking and/or controlling medical instruments |
| EP2996545B1 (en) | 2013-03-15 | 2021-10-20 | Board of Regents of the University of Nebraska | Robotic surgical systems |
| KR102117273B1 (ko) | 2013-03-21 | 2020-06-01 | 삼성전자주식회사 | 수술 로봇 시스템 및 그 제어 방법 |
| KR20140121581A (ko) | 2013-04-08 | 2014-10-16 | 삼성전자주식회사 | 수술 로봇 시스템 |
| KR20140123122A (ko) | 2013-04-10 | 2014-10-22 | 삼성전자주식회사 | 수술용 로봇 및 그 제어 방법 |
| US9414859B2 (en) | 2013-04-19 | 2016-08-16 | Warsaw Orthopedic, Inc. | Surgical rod measuring system and method |
| US8964934B2 (en) | 2013-04-25 | 2015-02-24 | Moshe Ein-Gal | Cone beam CT scanning |
| KR20140129702A (ko) | 2013-04-30 | 2014-11-07 | 삼성전자주식회사 | 수술 로봇 시스템 및 그 제어방법 |
| US20140364720A1 (en) | 2013-06-10 | 2014-12-11 | General Electric Company | Systems and methods for interactive magnetic resonance imaging |
| DE102013012397B4 (de) | 2013-07-26 | 2018-05-24 | Rg Mechatronics Gmbh | OP-Robotersystem |
| US10786283B2 (en) | 2013-08-01 | 2020-09-29 | Musc Foundation For Research Development | Skeletal bone fixation mechanism |
| US20150085970A1 (en) | 2013-09-23 | 2015-03-26 | General Electric Company | Systems and methods for hybrid scanning |
| US9283048B2 (en) | 2013-10-04 | 2016-03-15 | KB Medical SA | Apparatus and systems for precise guidance of surgical tools |
| WO2015052719A1 (en) | 2013-10-07 | 2015-04-16 | Technion Research & Development Foundation Ltd. | Needle steering by shaft manipulation |
| CN110123448A (zh) | 2013-10-09 | 2019-08-16 | 纽文思公司 | 在手术脊椎程序期间术中设计并评定脊椎畸形矫正的方法 |
| US9848922B2 (en) | 2013-10-09 | 2017-12-26 | Nuvasive, Inc. | Systems and methods for performing spine surgery |
| ITBO20130599A1 (it) | 2013-10-31 | 2015-05-01 | Cefla Coop | Metodo e apparato per aumentare il campo di vista in una acquisizione tomografica computerizzata con tecnica cone-beam |
| US20150146847A1 (en) | 2013-11-26 | 2015-05-28 | General Electric Company | Systems and methods for providing an x-ray imaging system with nearly continuous zooming capability |
| WO2015078229A1 (zh) | 2013-11-29 | 2015-06-04 | 重庆西山科技有限公司 | 无极变角侧向磨钻头及驱动组件 |
| 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 |
| US10034717B2 (en) | 2014-03-17 | 2018-07-31 | Intuitive Surgical Operations, Inc. | System and method for breakaway clutching in an articulated arm |
| AU2015277134B2 (en) | 2014-06-17 | 2019-02-28 | Nuvasive, Inc. | Systems and methods for planning, performing, and assessing spinal correction during surgery |
| CN107072673A (zh) | 2014-07-14 | 2017-08-18 | Kb医疗公司 | 用于在骨组织中制备孔的防滑手术器械 |
| US10327855B2 (en) | 2014-09-17 | 2019-06-25 | Intuitive Surgical Operations, Inc. | Systems and methods for utilizing augmented Jacobian to control manipulator joint movement |
| JP6731920B2 (ja) | 2014-12-02 | 2020-07-29 | カーベー メディカル エスアー | 外科手術中のロボット支援式体積除去 |
| US10631907B2 (en) | 2014-12-04 | 2020-04-28 | Mazor Robotics Ltd. | Shaper for vertebral fixation rods |
| US20160166329A1 (en) | 2014-12-15 | 2016-06-16 | General Electric Company | Tomographic imaging for interventional tool guidance |
| US10959783B2 (en) | 2015-04-15 | 2021-03-30 | Mobius Imaging, Llc | Integrated medical imaging and surgical robotic system |
| US10180404B2 (en) | 2015-04-30 | 2019-01-15 | Shimadzu Corporation | X-ray analysis device |
| US20170143284A1 (en) | 2015-11-25 | 2017-05-25 | Carestream Health, Inc. | Method to detect a retained surgical object |
| US10070939B2 (en) | 2015-12-04 | 2018-09-11 | Zaki G. Ibrahim | Methods for performing minimally invasive transforaminal lumbar interbody fusion using guidance |
| CN108601530A (zh) | 2016-01-22 | 2018-09-28 | 纽文思公司 | 用于促进脊柱手术的系统和方法 |
| 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 |
| US10842453B2 (en) | 2016-02-03 | 2020-11-24 | Globus Medical, Inc. | Portable medical imaging system |
| US9962133B2 (en) | 2016-03-09 | 2018-05-08 | Medtronic Navigation, Inc. | Transformable imaging system |
| US9931025B1 (en) | 2016-09-30 | 2018-04-03 | Auris Surgical Robotics, Inc. | Automated calibration of endoscopes with pull wires |
-
2015
- 2015-07-14 CN CN201580043738.9A patent/CN107072673A/zh active Pending
- 2015-07-14 US US14/799,170 patent/US10357257B2/en active Active
- 2015-07-14 EP EP15745163.4A patent/EP3169252A1/en not_active Withdrawn
- 2015-07-14 WO PCT/EP2015/066057 patent/WO2016008880A1/en active Application Filing
-
2019
- 2019-06-05 US US16/431,876 patent/US10945742B2/en active Active
Patent Citations (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO1999020196A1 (en) * | 1997-10-20 | 1999-04-29 | Ura Robert S | Variable depth medical drill and method of making the same |
| US6725080B2 (en) * | 2000-03-01 | 2004-04-20 | Surgical Navigation Technologies, Inc. | Multiple cannula image guided tool for image guided procedures |
| US20040128026A1 (en) * | 2001-01-29 | 2004-07-01 | Harris Simon James | Active-constraint robots |
| US20060142657A1 (en) * | 2002-03-06 | 2006-06-29 | Mako Surgical Corporation | Haptic guidance system and method |
| US20040265082A1 (en) * | 2003-06-30 | 2004-12-30 | Steven Abrams | Drill measurement stops |
| CN1925798A (zh) * | 2004-02-05 | 2007-03-07 | Bti，I+D，有限公司 | 具有组织微粒的提取和收集的低速、无冲洗的研磨方法和工具 |
| US20070293867A1 (en) * | 2004-02-05 | 2007-12-20 | Bti,I+D, S.L. | Method and Tools for Low-Speed Milling Without Irrigation and with Extraction and Recovery of Tissue Particles |
| WO2007055441A1 (en) * | 2005-11-14 | 2007-05-18 | Youn Moon Jung | Surgical device for spiral vertebral column |
| US20090287222A1 (en) * | 2008-05-16 | 2009-11-19 | Chun Tek Lee | Method and system for cutting knee joint using robot |
| US20100145341A1 (en) * | 2008-12-04 | 2010-06-10 | Ranck Roger S | Trocar-tipped drill bit |
| US20120330315A1 (en) * | 2008-12-04 | 2012-12-27 | Aeton Medical Llc | Trocar-tipped drill bit |
| US8709045B1 (en) * | 2009-03-27 | 2014-04-29 | A. Clint Folsom | Joint fusing system |
| WO2011147831A1 (en) * | 2010-05-24 | 2011-12-01 | Episurf Medical Ab | Surgical kit for cartilage repair comprising implant and a set of tools |
| CN102085110A (zh) * | 2011-03-12 | 2011-06-08 | 徐兆万 | 一种股骨头内骨质切削器 |
| EP2698115A1 (en) * | 2012-08-16 | 2014-02-19 | AprioMed AB | Biopsy device |
| CN103767759A (zh) * | 2014-01-28 | 2014-05-07 | 重庆西山科技有限公司 | 医用磨削刀具 |
Also Published As
| Publication number | Publication date |
|---|---|
| US10945742B2 (en) | 2021-03-16 |
| WO2016008880A1 (en) | 2016-01-21 |
| US10357257B2 (en) | 2019-07-23 |
| EP3169252A1 (en) | 2017-05-24 |
| US20160008011A1 (en) | 2016-01-14 |
| US20190350596A1 (en) | 2019-11-21 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107072673A (zh) | 用于在骨组织中制备孔的防滑手术器械 | |
| US11534179B2 (en) | Anti-skid surgical instrument for use in preparing holes in bone tissue | |
| US20210378665A1 (en) | Surgical staple implant kit | |
| US8708699B2 (en) | Drill guide | |
| US20070093841A1 (en) | Surgical drill, a set of surgical drills, a system for cutting bone and a method for removing bone | |
| WO2009108318A3 (en) | Tools for performing less invasive orthopedic joint procedures | |
| US8770974B2 (en) | Set of dental drills | |
| US20170143351A1 (en) | Implant placement trephine, prepackaged and sized implant / trephine kit, and methods of use | |
| JP2007508050A (ja) | モジュール型誘導ポータル | |
| JP2021532845A (ja) | 経皮ターゲティングデバイス | |
| US20160022388A1 (en) | Surgical Instruments | |
| US10194925B2 (en) | Medical tool system | |
| US20120045731A1 (en) | Guided pin system trephine drill | |
| US11331112B2 (en) | Adjustable depth limiting drill guide and suture transporting method | |
| EP3354223A1 (en) | Anti-skid surgical instrument for use in preparing holes in bone tissue | |
| EP3442459B1 (en) | Anti-skid surgical instrument for use in preparing holes in bone tissue | |
| US20130103152A1 (en) | Spinal facet fusion device and method of operation | |
| US10292746B2 (en) | Surgical tool having a cannula, a surgical kit, a method of fabrication, and a machine for fabricating such a tool | |
| CN214017807U (zh) | 骨科铣刀组件及骨科手术机器人 | |
| JP4217658B2 (ja) | 骨折治療用装置 | |
| US11666367B2 (en) | Guidance apparatus for implantation into bone and related methods of use | |
| JP2005334139A (ja) | 動物の骨折治療方法 | |
| AU2011100551A4 (en) | System for guiding a dental arch osteotomy | |
| Palmer | Interlocking nails: the gadgetry and surgical methods. |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20170818 |