WO2010117625A2 - Optic fiber connection for a force sensing instrument - Google Patents
Optic fiber connection for a force sensing instrument Download PDFInfo
- Publication number
- WO2010117625A2 WO2010117625A2 PCT/US2010/028391 US2010028391W WO2010117625A2 WO 2010117625 A2 WO2010117625 A2 WO 2010117625A2 US 2010028391 W US2010028391 W US 2010028391W WO 2010117625 A2 WO2010117625 A2 WO 2010117625A2
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- fiber optic
- instrument
- optic connector
- manipulator
- fiber
- Prior art date
Links
- 239000000835 fiber Substances 0.000 title claims abstract description 187
- 230000003287 optical effect Effects 0.000 claims abstract description 35
- 238000000034 method Methods 0.000 claims abstract description 22
- 239000012636 effector Substances 0.000 claims abstract description 11
- 210000003857 wrist joint Anatomy 0.000 claims abstract description 8
- 230000013011 mating Effects 0.000 claims description 10
- 239000013307 optical fiber Substances 0.000 claims description 9
- 239000000523 sample Substances 0.000 claims description 4
- 230000002262 irrigation Effects 0.000 claims description 2
- 238000003973 irrigation Methods 0.000 claims description 2
- 238000013459 approach Methods 0.000 claims 4
- 230000033001 locomotion Effects 0.000 description 20
- 230000000712 assembly Effects 0.000 description 16
- 238000000429 assembly Methods 0.000 description 16
- 210000000707 wrist Anatomy 0.000 description 11
- 238000003780 insertion Methods 0.000 description 9
- 230000037431 insertion Effects 0.000 description 9
- 238000001356 surgical procedure Methods 0.000 description 9
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical compound O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 description 8
- 230000008878 coupling Effects 0.000 description 6
- 238000010168 coupling process Methods 0.000 description 6
- 238000005859 coupling reaction Methods 0.000 description 6
- 210000004247 hand Anatomy 0.000 description 5
- 238000012545 processing Methods 0.000 description 4
- 239000000377 silicon dioxide Substances 0.000 description 4
- 238000013461 design Methods 0.000 description 3
- 230000001112 coagulating effect Effects 0.000 description 2
- 238000004891 communication Methods 0.000 description 2
- 238000011109 contamination Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000008447 perception Effects 0.000 description 2
- 230000004044 response Effects 0.000 description 2
- 230000035945 sensitivity Effects 0.000 description 2
- 210000001015 abdomen Anatomy 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 210000004204 blood vessel Anatomy 0.000 description 1
- 230000015556 catabolic process Effects 0.000 description 1
- 238000006731 degradation reaction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 210000000245 forearm Anatomy 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000002357 laparoscopic surgery Methods 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000012978 minimally invasive surgical procedure Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 238000002355 open surgical procedure Methods 0.000 description 1
- 238000011017 operating method Methods 0.000 description 1
- 230000003252 repetitive effect Effects 0.000 description 1
- 238000002432 robotic surgery Methods 0.000 description 1
- 230000035807 sensation Effects 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
- 230000003595 spectral effect Effects 0.000 description 1
- 230000007480 spreading Effects 0.000 description 1
- 238000004659 sterilization and disinfection Methods 0.000 description 1
- 238000012549 training Methods 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/20—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
- A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
-
- 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
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/16—Measuring arrangements characterised by the use of optical techniques for measuring the deformation in a solid, e.g. optical strain gauge
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L1/00—Measuring force or stress, in general
- G01L1/24—Measuring force or stress, in general by measuring variations of optical properties of material when it is stressed, e.g. by photoelastic stress analysis using infrared, visible light, ultraviolet
- G01L1/242—Measuring force or stress, in general by measuring variations of optical properties of material when it is stressed, e.g. by photoelastic stress analysis using infrared, visible light, ultraviolet the material being an optical fibre
-
- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B6/00—Light guides; Structural details of arrangements comprising light guides and other optical elements, e.g. couplings
- G02B6/10—Light guides; Structural details of arrangements comprising light guides and other optical elements, e.g. couplings of the optical waveguide type
- G02B6/12—Light guides; Structural details of arrangements comprising light guides and other optical elements, e.g. couplings of the optical waveguide type of the integrated circuit kind
- G02B6/12007—Light guides; Structural details of arrangements comprising light guides and other optical elements, e.g. couplings of the optical waveguide type of the integrated circuit kind forming wavelength selective elements, e.g. multiplexer, demultiplexer
- G02B6/12009—Light guides; Structural details of arrangements comprising light guides and other optical elements, e.g. couplings of the optical waveguide type of the integrated circuit kind forming wavelength selective elements, e.g. multiplexer, demultiplexer comprising arrayed waveguide grating [AWG] devices, i.e. with a phased array of waveguides
- G02B6/12019—Light guides; Structural details of arrangements comprising light guides and other optical elements, e.g. couplings of the optical waveguide type of the integrated circuit kind forming wavelength selective elements, e.g. multiplexer, demultiplexer comprising arrayed waveguide grating [AWG] devices, i.e. with a phased array of waveguides characterised by the optical interconnection to or from the AWG devices, e.g. integration or coupling with lasers or photodiodes
-
- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B6/00—Light guides; Structural details of arrangements comprising light guides and other optical elements, e.g. couplings
- G02B6/24—Coupling light guides
- G02B6/26—Optical coupling means
- G02B6/264—Optical coupling means with optical elements between opposed fibre ends which perform a function other than beam splitting
-
- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B6/00—Light guides; Structural details of arrangements comprising light guides and other optical elements, e.g. couplings
- G02B6/24—Coupling light guides
- G02B6/26—Optical coupling means
- G02B6/32—Optical coupling means having lens focusing means positioned between opposed fibre ends
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/00477—Coupling
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
- A61B18/18—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by applying electromagnetic radiation, e.g. microwaves
- A61B18/20—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by applying electromagnetic radiation, e.g. microwaves using laser
- A61B18/22—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by applying electromagnetic radiation, e.g. microwaves using laser the beam being directed along or through a flexible conduit, e.g. an optical fibre; Couplings or hand-pieces therefor
- A61B2018/2244—Features of optical fibre cables, e.g. claddings
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
- A61B18/18—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by applying electromagnetic radiation, e.g. microwaves
- A61B18/20—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by applying electromagnetic radiation, e.g. microwaves using laser
- A61B18/22—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by applying electromagnetic radiation, e.g. microwaves using laser the beam being directed along or through a flexible conduit, e.g. an optical fibre; Couplings or hand-pieces therefor
- A61B2018/2255—Optical elements at the distal end of probe tips
- A61B2018/2266—Optical elements at the distal end of probe tips with a lens, e.g. ball tipped
-
- 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
- A61B2034/2046—Tracking techniques
- A61B2034/2061—Tracking techniques using shape-sensors, e.g. fiber shape sensors with Bragg gratings
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B2034/305—Details of wrist mechanisms at distal ends of robotic arms
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/06—Measuring instruments not otherwise provided for
- A61B2090/064—Measuring instruments not otherwise provided for for measuring force, pressure or mechanical tension
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B2562/00—Details of sensors; Constructional details of sensor housings or probes; Accessories for sensors
- A61B2562/02—Details of sensors specially adapted for in-vivo measurements
- A61B2562/0261—Strain gauges
- A61B2562/0266—Optical strain gauges
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T74/00—Machine element or mechanism
- Y10T74/20—Control lever and linkage systems
- Y10T74/20207—Multiple controlling elements for single controlled element
- Y10T74/20305—Robotic arm
- Y10T74/20329—Joint between elements
- Y10T74/20335—Wrist
Definitions
- FIG. 12B is an enlarged view of the sterile adaptor
- FIG. 12C is an enlarged sectional view of the sterile adaptor coupled to the distal link instrument interface in accordance with an embodiment of the present invention.
- a robotic system of the present invention generally includes one or more surgical manipulator assemblies mounted to or near an operating table and a master control assembly for allowing a surgeon to view the surgical site and to control the manipulator assemblies.
- the system will also include one or more viewing scope assemblies and a plurality of surgical instruments adapted for being removably coupled to the manipulator assemblies (discussed in more detail below) .
- the robotic system includes at least two manipulator assemblies and preferably at least three manipulator assemblies. As discussed in detail below, one of the assemblies will typically operate a viewing scope assembly (e.g., in endoscopic procedures) for viewing the surgical site, while the other manipulator assemblies operate surgical instruments for performing various procedures on a patient.
- a servo control is provided for transferring the mechanical motion of masters to the manipulator assemblies.
- the servo control may provide force and torque feedback from the surgical instruments to the hand-operated masters.
- the servo control may include a safety monitoring controller to safely halt system operation, or at least inhibit all robot motion, in response to recognized undesirable conditions (e.g., exertion of excessive force on the patient, mismatched encoder readings, etc . ) .
- a manipulator such as manipulator 8 that is supporting a surgical tool used to manipulate tissues is sometimes referred to as a patient-side manipulator (PSM)
- a manipulator 10 which controls an image capture or data acquisition device such as endoscope 11 may be referred to as an endoscope-camera manipulator (ECM)
- ECM endoscope-camera manipulator
- the manipulators may optionally actuate, maneuver and control a wide variety of instruments or tools, image capture devices, and the like which are useful for surgery.
- various surgical instruments may be used including but not limited to tools with or without end effectors 120, such as jaws, scissors, graspers, needle holders, micro- dissectors, staple appliers, tackers, suction irrigation tools, clip appliers, cutting blades, irrigators, catheters, and suction orifices.
- the surgical instrument may comprise an electrosurgical probe for ablating, resecting, cutting or coagulating tissue.
- Such surgical instruments are manufactured by Intuitive Surgical, Inc. of Sunnyvale, California.
- various strain gauges 102 may be used, including but not limited to optic fiber type gauges using Bragg grating or Fabry-Perot technology.
- Optic fiber Bragg grating (FBG) gauges may be advantageous in that two sensing elements may be located along a single fiber 106 at a known separation L, thereby only requiring the provision of four fibers along the force transducer 140 and the instrument shaft 110 to connect eight strain gauges 102.
- Multiple FBGs can be written into a fiber if they are formed in such a way as to use different ranges of wavelengths. This is a particularly useful property for an embodiment comprising a pair of rings 104 of strain gauges because only four fibers would need to be passed thru the instrument shaft, each with two FBGs separated by a known distance L.
- FIGS.7A-7B show views of an instrument including a fiber optic force transducer 140 similar to that described above with respect to FIGS.2A-2B. Similar elements are numbered the same and repetitive descriptions are omitted to avoid redundancy.
- the instrument has four fibers emerging from the transducer 140 which are gathered directly into PLC splitter 306 (integrated with the transducer) so that a single fiber 326 passes through the instrument shaft 110 to the rear housing 150 and expanded beam connector 300a.
- the fiber strain relief is in the form of a circular loop 326a and the optical connector 300a is oriented to the rear for manual mating with an optical connector 300b.
Abstract
Description
Claims
Priority Applications (11)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
KR1020187005406A KR101870604B1 (en) | 2009-03-31 | 2010-03-24 | Optic fiber connection for a force sensing instrument |
KR1020187016858A KR101942390B1 (en) | 2009-03-31 | 2010-03-24 | Optic fiber connection for a force sensing instrument |
KR1020197001774A KR102041760B1 (en) | 2009-03-31 | 2010-03-24 | Optic fiber connection for a force sensing instrument |
KR1020177016556A KR101834712B1 (en) | 2009-03-31 | 2010-03-24 | Optic fiber connection for a force sensing instrument |
KR1020197032167A KR102157116B1 (en) | 2009-03-31 | 2010-03-24 | Optic fiber connection for a force sensing instrument |
EP17151273.4A EP3181087B1 (en) | 2009-03-31 | 2010-03-24 | Optic fiber connection for a force sensing instrument |
EP10716424.6A EP2416727B1 (en) | 2009-03-31 | 2010-03-24 | Optic fiber connection for a force sensing instrument |
KR1020167028449A KR101709905B1 (en) | 2009-03-31 | 2010-03-24 | Optic fiber connection for a force sensing instrument |
CN201080024150.6A CN102448399B (en) | 2009-03-31 | 2010-03-24 | For the Fiber connection of power sensing instrument |
KR1020177004436A KR101750221B1 (en) | 2009-03-31 | 2010-03-24 | Optic fiber connection for a force sensing instrument |
KR1020117025090A KR101669304B1 (en) | 2009-03-31 | 2010-03-24 | Optic fiber connection for a force sensing instrument |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US12/415,795 US8463439B2 (en) | 2009-03-31 | 2009-03-31 | Optic fiber connection for a force sensing instrument |
US12/415,795 | 2009-03-31 |
Publications (2)
Publication Number | Publication Date |
---|---|
WO2010117625A2 true WO2010117625A2 (en) | 2010-10-14 |
WO2010117625A3 WO2010117625A3 (en) | 2010-11-25 |
Family
ID=42244524
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/US2010/028391 WO2010117625A2 (en) | 2009-03-31 | 2010-03-24 | Optic fiber connection for a force sensing instrument |
Country Status (5)
Country | Link |
---|---|
US (6) | US8463439B2 (en) |
EP (2) | EP3181087B1 (en) |
KR (8) | KR102157116B1 (en) |
CN (1) | CN102448399B (en) |
WO (1) | WO2010117625A2 (en) |
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US10568539B2 (en) | 2012-08-14 | 2020-02-25 | Intuitive Surgical Operations, Inc. | Systems and methods for configuring components in a minimally invasive instrument |
US11266344B2 (en) | 2016-09-21 | 2022-03-08 | Samsung Electronics Co., Ltd. | Method for measuring skin condition and electronic device therefor |
US11944403B2 (en) | 2014-03-17 | 2024-04-02 | Intuitive Surgical Operations, Inc. | Latch to secure teleoperated surgical instrument to actuator |
Families Citing this family (57)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US8463439B2 (en) * | 2009-03-31 | 2013-06-11 | Intuitive Surgical Operations, Inc. | Optic fiber connection for a force sensing instrument |
US8465474B2 (en) | 2009-05-19 | 2013-06-18 | Intuitive Surgical Operations, Inc. | Cleaning of a surgical instrument force sensor |
US8496647B2 (en) | 2007-12-18 | 2013-07-30 | Intuitive Surgical Operations, Inc. | Ribbed force sensor |
US8628518B2 (en) | 2005-12-30 | 2014-01-14 | Intuitive Surgical Operations, Inc. | Wireless force sensor on a distal portion of a surgical instrument and method |
US8945148B2 (en) * | 2007-06-13 | 2015-02-03 | Intuitive Surgical Operations, Inc. | Surgical system instrument manipulator |
US8561473B2 (en) | 2007-12-18 | 2013-10-22 | Intuitive Surgical Operations, Inc. | Force sensor temperature compensation |
US9486189B2 (en) | 2010-12-02 | 2016-11-08 | Hitachi Aloka Medical, Ltd. | Assembly for use with surgery system |
EP3714821A1 (en) | 2011-06-10 | 2020-09-30 | Board of Regents of the University of Nebraska | Surgical end effector |
EP2732344B1 (en) | 2011-07-11 | 2019-06-05 | Board of Regents of the University of Nebraska | Robotic surgical system |
US8651751B2 (en) * | 2011-11-15 | 2014-02-18 | Chromis Fiberoptics, Inc. | Apparatus and process for termination of polymer optical fiber ribbons |
CA3098065C (en) | 2012-01-10 | 2023-10-31 | Board Of Regents Of The University Of Nebraska | Methods, systems, and devices for surgical access and insertion |
JP6134336B2 (en) * | 2012-02-15 | 2017-05-24 | インテュイティブ サージカル オペレーションズ, インコーポレイテッド | When an instrument enters the display area visible to the operator of the input device, the control authority of the instrument is switched to the input device. |
US9445876B2 (en) * | 2012-02-27 | 2016-09-20 | Covidien Lp | Glove with sensory elements incorporated therein for controlling at least one surgical instrument |
EP3845190B1 (en) | 2012-05-01 | 2023-07-12 | Board of Regents of the University of Nebraska | Single site robotic device and related systems |
KR101967635B1 (en) * | 2012-05-15 | 2019-04-10 | 삼성전자주식회사 | End effector and remote control apparatus |
EP2882331A4 (en) | 2012-08-08 | 2016-03-23 | Univ Nebraska | Robotic surgical devices, systems, and related methods |
US9770305B2 (en) | 2012-08-08 | 2017-09-26 | Board Of Regents Of The University Of Nebraska | Robotic surgical devices, systems, and related methods |
US9522003B2 (en) * | 2013-01-14 | 2016-12-20 | Intuitive Surgical Operations, Inc. | Clamping instrument |
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 |
CA2906772C (en) | 2013-03-15 | 2021-09-21 | Board Of Regents Of The University Of Nebraska | Robotic surgical devices, systems and related methods |
JP6137931B2 (en) * | 2013-04-26 | 2017-05-31 | オリンパス株式会社 | Endoscope |
US10966700B2 (en) | 2013-07-17 | 2021-04-06 | Virtual Incision Corporation | Robotic surgical devices, systems and related methods |
US9817019B2 (en) | 2013-11-13 | 2017-11-14 | Intuitive Surgical Operations, Inc. | Integrated fiber bragg grating accelerometer in a surgical instrument |
WO2015142787A1 (en) * | 2014-03-17 | 2015-09-24 | Intuitive Surgical Operations, Inc. | Multi-stage instrument connector |
JP6431678B2 (en) * | 2014-03-20 | 2018-11-28 | オリンパス株式会社 | Insertion shape detection device |
US10175127B2 (en) | 2014-05-05 | 2019-01-08 | Covidien Lp | End-effector force measurement drive circuit |
US11428591B2 (en) | 2014-05-05 | 2022-08-30 | Covidien Lp | End-effector force measurement drive circuit |
DE102015001624A1 (en) * | 2015-02-09 | 2016-08-11 | Kuka Roboter Gmbh | robot system |
KR101739179B1 (en) | 2015-03-03 | 2017-06-08 | 이호식 | Optic cable connecting apparatus with non contact type optic cable sensing unit |
KR101758600B1 (en) | 2015-03-03 | 2017-07-26 | (주)참메드 | Universal type optic cable holder and optic cable connecting apparatus comprising the same |
WO2016154756A1 (en) | 2015-03-31 | 2016-10-06 | 7D Surgical Inc. | Systems, methods and devices for tracking and calibration of flexible implements |
US10194981B2 (en) * | 2015-07-29 | 2019-02-05 | Medlumics S.L. | Radiofrequency ablation catheter with optical tissue evaluation |
WO2017024081A1 (en) | 2015-08-03 | 2017-02-09 | Board Of Regents Of The University Of Nebraska | Robotic surgical devices systems and related methods |
US10034716B2 (en) * | 2015-09-14 | 2018-07-31 | Globus Medical, Inc. | Surgical robotic systems and methods thereof |
US10362204B2 (en) * | 2015-11-25 | 2019-07-23 | General Tools & Instruments | Illuminated object viewing and retrieving tool |
JP6673684B2 (en) * | 2015-12-11 | 2020-03-25 | 株式会社メディカロイド | Remote control device and remote operation system |
EP3417332A4 (en) | 2016-02-17 | 2019-10-30 | Invuity, Inc. | Systems and methods for illuminating and imaging |
CN114098975A (en) | 2016-05-18 | 2022-03-01 | 虚拟切割有限公司 | Robotic surgical devices, systems, and related methods |
EP3522813A2 (en) * | 2016-10-04 | 2019-08-14 | Imperial Innovations Limited | Coupling for a robotic surgical instrument |
EP3548773A4 (en) | 2016-11-29 | 2020-08-05 | Virtual Incision Corporation | User controller with user presence detection and related systems and methods |
US10722319B2 (en) | 2016-12-14 | 2020-07-28 | Virtual Incision Corporation | Releasable attachment device for coupling to medical devices and related systems and methods |
GB2552855B (en) * | 2017-01-31 | 2019-02-13 | Cmr Surgical Ltd | Surgical instrument engagement detection |
JP2018167386A (en) * | 2017-03-30 | 2018-11-01 | セイコーエプソン株式会社 | robot |
US11460360B2 (en) | 2017-11-14 | 2022-10-04 | Intuitive Surgical Operations, Inc. | Split bridge circuit force sensor |
US10675107B2 (en) | 2017-11-15 | 2020-06-09 | Intuitive Surgical Operations, Inc. | Surgical instrument end effector with integral FBG |
US11160621B2 (en) * | 2017-11-17 | 2021-11-02 | Intuitive Surgical Operations, Inc. | Surgical instrument sterile adapter with optical coupler |
EP3735341A4 (en) | 2018-01-05 | 2021-10-06 | Board of Regents of the University of Nebraska | Single-arm robotic device with compact joint design and related systems and methods |
WO2019222641A1 (en) * | 2018-05-18 | 2019-11-21 | Corindus, Inc. | Remote communications and control system for robotic interventional procedures |
CN109330689B (en) * | 2018-07-31 | 2024-01-09 | 深圳市精锋医疗科技股份有限公司 | Slave operation equipment assembly capable of adjusting operation arm and operation robot |
WO2020102778A1 (en) | 2018-11-15 | 2020-05-22 | Intuitive Surgical Operations, Inc. | Strain sensor with contoured deflection surface |
CN113316431A (en) | 2018-12-04 | 2021-08-27 | 马科外科公司 | Mounting system with sterile barrier assembly for coupling surgical components |
US11903658B2 (en) | 2019-01-07 | 2024-02-20 | Virtual Incision Corporation | Robotically assisted surgical system and related devices and methods |
EP3890645A4 (en) | 2019-02-22 | 2022-09-07 | Auris Health, Inc. | Surgical platform with motorized arms for adjustable arm supports |
US11617627B2 (en) * | 2019-03-29 | 2023-04-04 | Auris Health, Inc. | Systems and methods for optical strain sensing in medical instruments |
US11690624B2 (en) * | 2019-06-21 | 2023-07-04 | Covidien Lp | Reload assembly injection molded strain gauge |
CN113133831A (en) * | 2020-01-20 | 2021-07-20 | 上海奥朋医疗科技有限公司 | Guide wire and catheter three-joint rotating mechanism suitable for intravascular interventional operation |
JP6850056B1 (en) * | 2020-09-01 | 2021-03-31 | リバーフィールド株式会社 | Surgical tool |
Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US5631973A (en) | 1994-05-05 | 1997-05-20 | Sri International | Method for telemanipulation with telepresence |
US6246200B1 (en) | 1998-08-04 | 2001-06-12 | Intuitive Surgical, Inc. | Manipulator positioning linkage for robotic surgery |
US6491701B2 (en) | 1998-12-08 | 2002-12-10 | Intuitive Surgical, Inc. | Mechanical actuator interface system for robotic surgical tools |
US6770081B1 (en) | 2000-01-07 | 2004-08-03 | Intuitive Surgical, Inc. | In vivo accessories for minimally invasive robotic surgery and methods |
Family Cites Families (80)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4953938A (en) * | 1985-10-28 | 1990-09-04 | Gte Laboratories Incorporated | Optical fiber expanded beam connector |
US4836637A (en) * | 1986-05-21 | 1989-06-06 | Poorman Thomas J | Expanded-beam fiber-optic connector |
US4834494A (en) * | 1987-07-20 | 1989-05-30 | Corning Glass Works | Expanded beam waveguide connector |
US4898450A (en) * | 1987-08-31 | 1990-02-06 | Physical Optics Corporation | Expanded beam non-imaging fiber optic connector |
IT1223014B (en) * | 1987-10-29 | 1990-09-12 | Pirelli Cavi Spa | CONNECTOR FOR EXPANDED BAND OPTICAL FIBERS |
US4913510A (en) * | 1989-03-06 | 1990-04-03 | Gte Products Corporation | Expanded beam fiber optic lens |
US5795325A (en) * | 1991-07-16 | 1998-08-18 | Heartport, Inc. | Methods and apparatus for anchoring an occluding member |
FR2693397B1 (en) | 1992-07-09 | 1994-09-02 | Cogema | Sensory feedback device representative of the effort exerted on a remote manipulator by its user. |
US5257332A (en) * | 1992-09-04 | 1993-10-26 | At&T Bell Laboratories | Optical fiber expanded beam coupler |
US5416874A (en) * | 1994-07-01 | 1995-05-16 | Siecor Corporation | Optical receiver stub fitting |
US5541756A (en) * | 1994-11-17 | 1996-07-30 | Board Of Trustees Of The Leland Stanford Junior Universty | Apparatus and method for routing optical signals through wavelength-coding in a self-routed wavelength addressable network |
US7235089B1 (en) * | 1994-12-07 | 2007-06-26 | Boston Scientific Corporation | Surgical apparatus and method |
US6221007B1 (en) * | 1996-05-03 | 2001-04-24 | Philip S. Green | System and method for endoscopic imaging and endosurgery |
US5807377A (en) | 1996-05-20 | 1998-09-15 | Intuitive Surgical, Inc. | Force-reflecting surgical instrument and positioning mechanism for performing minimally invasive surgery with enhanced dexterity and sensitivity |
US5792135A (en) | 1996-05-20 | 1998-08-11 | Intuitive Surgical, Inc. | Articulated surgical instrument for performing minimally invasive surgery with enhanced dexterity and sensitivity |
US5838437A (en) * | 1997-04-09 | 1998-11-17 | Micron Optics, Inc. | Reference system for optical devices including optical scanners and spectrum analyzers |
US7699855B2 (en) | 1996-12-12 | 2010-04-20 | Intuitive Surgical Operations, Inc. | Sterile surgical adaptor |
US7666191B2 (en) * | 1996-12-12 | 2010-02-23 | Intuitive Surgical, Inc. | Robotic surgical system with sterile surgical adaptor |
US7727244B2 (en) | 1997-11-21 | 2010-06-01 | Intuitive Surgical Operation, Inc. | Sterile surgical drape |
US5996376A (en) * | 1997-04-11 | 1999-12-07 | Digital Optics Corporation | Methods of forming optical rods including three-dimensional patterns on end faces thereof |
US6256090B1 (en) * | 1997-07-31 | 2001-07-03 | University Of Maryland | Method and apparatus for determining the shape of a flexible body |
US6160652A (en) * | 1998-07-17 | 2000-12-12 | Lynx Photonic Networks Ltd. | Optical address decoder |
US6394998B1 (en) | 1999-01-22 | 2002-05-28 | Intuitive Surgical, Inc. | Surgical tools for use in minimally invasive telesurgical applications |
AU3187000A (en) | 1999-03-07 | 2000-09-28 | Discure Ltd. | Method and apparatus for computerized surgery |
EP1181598A4 (en) * | 1999-03-29 | 2004-05-12 | Scimed Life Systems Inc | Single mode optical fiber coupling systems |
US6594552B1 (en) | 1999-04-07 | 2003-07-15 | Intuitive Surgical, Inc. | Grip strength with tactile feedback for robotic surgery |
US8944070B2 (en) | 1999-04-07 | 2015-02-03 | Intuitive Surgical Operations, Inc. | Non-force reflecting method for providing tool force information to a user of a telesurgical system |
US6600583B1 (en) * | 1999-09-28 | 2003-07-29 | Lucent Technologies Inc. | Optical internet router |
US6374012B1 (en) * | 1999-09-30 | 2002-04-16 | Agere Systems Guardian Corp. | Method and apparatus for adjusting the path of an optical beam |
IL134218A (en) * | 2000-01-25 | 2003-12-10 | Eci Telecom Ltd | Method and apparatus for routing data-carrying optical signals |
DE10011790B4 (en) * | 2000-03-13 | 2005-07-14 | Siemens Ag | Medical instrument for insertion into an examination subject, and medical examination or treatment device |
US6411755B1 (en) * | 2000-04-27 | 2002-06-25 | University Of Rochester | Cladding-assisted single-mode fiber coupler |
US6902560B1 (en) | 2000-07-27 | 2005-06-07 | Intuitive Surgical, Inc. | Roll-pitch-roll surgical tool |
US6493489B2 (en) * | 2000-11-29 | 2002-12-10 | Alvesta Corporation | Integrated coupling modules for high-bandwidth fiber-optic systems |
US6736547B2 (en) * | 2001-04-10 | 2004-05-18 | Lockheed Martin Corporation | Expanded-beam, butt-coupled optical connector |
US6783524B2 (en) | 2001-04-19 | 2004-08-31 | Intuitive Surgical, Inc. | Robotic surgical tool with ultrasound cauterizing and cutting instrument |
US6817974B2 (en) | 2001-06-29 | 2004-11-16 | Intuitive Surgical, Inc. | Surgical tool having positively positionable tendon-actuated multi-disk wrist joint |
US6632025B2 (en) * | 2001-07-05 | 2003-10-14 | Corning Incorporated | High power expanded beam connector and methods for using and making the high power expanded beam connector |
US6655850B2 (en) * | 2001-07-05 | 2003-12-02 | Corning Incorporated | Hybrid fiber expanded beam connector and methods for using and making the hybrid fiber expanded beam connector |
US7031567B2 (en) * | 2001-07-24 | 2006-04-18 | Tyco Electronics Corporation | Expanded beam connector system |
US6676684B1 (en) | 2001-09-04 | 2004-01-13 | Intuitive Surgical, Inc. | Roll-pitch-roll-yaw surgical tool |
CA2474485A1 (en) * | 2002-01-31 | 2003-08-07 | University Of Rochester | Light activated gene transduction using ultraviolet light for cell targeted gene delivery |
US6876786B2 (en) * | 2002-10-02 | 2005-04-05 | Cicese-Centro De Investigation | Fiber-optic sensing system for distributed detection and localization of alarm conditions |
KR100488221B1 (en) * | 2003-09-08 | 2005-05-10 | 주식회사 파이버프로 | Fiber Bragg grating sensor system |
WO2005039835A1 (en) | 2003-10-24 | 2005-05-06 | The University Of Western Ontario | Force reflective robotic control system and minimally invasive surgical device |
US7302179B2 (en) * | 2003-11-17 | 2007-11-27 | Novx Systems, Inc. | Optical performance monitor using co-located switchable fiber bragg grating array |
US6865332B1 (en) * | 2003-12-22 | 2005-03-08 | Corning Cable Systems Llc | Fiber optic splitter package and method of manufacture |
US20050151975A1 (en) * | 2004-01-14 | 2005-07-14 | Ivan Melnyk | Fabry-perot fiber optic sensing device and method |
US7200300B2 (en) * | 2004-01-14 | 2007-04-03 | Corning Incorporated | Lensed fibers and methods of making lensed fibers |
US7781724B2 (en) * | 2004-07-16 | 2010-08-24 | Luna Innovations Incorporated | Fiber optic position and shape sensing device and method relating thereto |
US7772541B2 (en) * | 2004-07-16 | 2010-08-10 | Luna Innnovations Incorporated | Fiber optic position and/or shape sensing based on rayleigh scatter |
JP2006108881A (en) | 2004-10-01 | 2006-04-20 | Kato Electrical Mach Co Ltd | Slide mechanism of mobile apparatus and mobile phone |
US7218828B2 (en) * | 2005-01-24 | 2007-05-15 | Feustel Clay A | Optical fiber power splitter module apparatus |
US8075498B2 (en) * | 2005-03-04 | 2011-12-13 | Endosense Sa | Medical apparatus system having optical fiber load sensing capability |
US8945095B2 (en) | 2005-03-30 | 2015-02-03 | Intuitive Surgical Operations, Inc. | Force and torque sensing for surgical instruments |
US8375808B2 (en) * | 2005-12-30 | 2013-02-19 | Intuitive Surgical Operations, Inc. | Force sensing for surgical instruments |
US7752920B2 (en) | 2005-12-30 | 2010-07-13 | Intuitive Surgical Operations, Inc. | Modular force sensor |
US8463439B2 (en) | 2009-03-31 | 2013-06-11 | Intuitive Surgical Operations, Inc. | Optic fiber connection for a force sensing instrument |
US8496647B2 (en) | 2007-12-18 | 2013-07-30 | Intuitive Surgical Operations, Inc. | Ribbed force sensor |
US7258495B1 (en) * | 2005-06-24 | 2007-08-21 | Corning Incorporated | Lensed fiber stub assemblies optical and optoelectronic packages including them |
EP3028645B1 (en) * | 2005-08-01 | 2019-09-18 | St. Jude Medical International Holding S.à r.l. | Medical apparatus system having optical fiber load sensing capability |
US20070129634A1 (en) | 2005-10-17 | 2007-06-07 | Hickey Katherine M | Biomedical positioning and stabilization system |
US8182470B2 (en) | 2005-12-20 | 2012-05-22 | Intuitive Surgical Operations, Inc. | Telescoping insertion axis of a robotic surgical system |
US7930065B2 (en) * | 2005-12-30 | 2011-04-19 | Intuitive Surgical Operations, Inc. | Robotic surgery system including position sensors using fiber bragg gratings |
US8628518B2 (en) * | 2005-12-30 | 2014-01-14 | Intuitive Surgical Operations, Inc. | Wireless force sensor on a distal portion of a surgical instrument and method |
WO2007087040A2 (en) * | 2006-01-13 | 2007-08-02 | Luna Innovations Incorporated | Demodulation method and apparatus for fiber optic sensors |
US8989528B2 (en) * | 2006-02-22 | 2015-03-24 | Hansen Medical, Inc. | Optical fiber grating sensors and methods of manufacture |
WO2007109778A1 (en) * | 2006-03-22 | 2007-09-27 | Hansen Medical, Inc. | Fiber optic instrument sensing system |
US8628520B2 (en) * | 2006-05-02 | 2014-01-14 | Biosense Webster, Inc. | Catheter with omni-directional optical lesion evaluation |
US7350981B2 (en) * | 2006-05-09 | 2008-04-01 | Stratos International, Inc. | Fiber optic buildout converter, physical contact to expanded beam |
US7460750B2 (en) * | 2006-08-23 | 2008-12-02 | Stratos International, Inc. | Expanded beam, single fiber, fiber optic connector |
ES2302444B1 (en) * | 2006-09-20 | 2009-05-21 | Universitat Politecnica De Catalunya | OPTICAL REMOTE NODE DEVICE AND SUPPORT EQUIPMENT FOR THE CONSTRUCTION AND EXTENSION OF ACCESS FIBER NETWORKS. |
WO2008131303A2 (en) * | 2007-04-20 | 2008-10-30 | Hansen Medical, Inc. | Optical fiber shape sensing systems |
US8157789B2 (en) * | 2007-05-24 | 2012-04-17 | Endosense Sa | Touch sensing catheter |
US8622935B1 (en) * | 2007-05-25 | 2014-01-07 | Endosense Sa | Elongated surgical manipulator with body position and distal force sensing |
US8702590B2 (en) | 2007-07-02 | 2014-04-22 | M.S.T. Medical Surgery Technologies Ltd | System for positioning endoscope and surgical instruments |
US7715669B2 (en) * | 2007-10-17 | 2010-05-11 | Avago Technologies Fiber Ip (Singapore) Pte. Ltd. | Fiber optic link, a transceiver for use in the link, and methods for designing and constructing fiber optic links and transceivers |
US8702320B2 (en) * | 2009-11-04 | 2014-04-22 | Adc Telecommunications, Inc. | Fiber optic ferrule assembly with transitioning insert |
US8873066B2 (en) * | 2011-07-14 | 2014-10-28 | Insight Photonic Solutions, Inc. | System and method for improved resolution, higher scan speeds and reduced processing time in scans involving swept-wavelength interferometry |
US9006826B2 (en) | 2012-05-14 | 2015-04-14 | Taiwan Semiconductor Manufacturing Co., Ltd. | Butted contact shape to improve SRAM leakage current |
-
2009
- 2009-03-31 US US12/415,795 patent/US8463439B2/en active Active
-
2010
- 2010-03-24 KR KR1020197032167A patent/KR102157116B1/en active IP Right Grant
- 2010-03-24 KR KR1020197001774A patent/KR102041760B1/en active IP Right Grant
- 2010-03-24 EP EP17151273.4A patent/EP3181087B1/en active Active
- 2010-03-24 KR KR1020117025090A patent/KR101669304B1/en active IP Right Grant
- 2010-03-24 EP EP10716424.6A patent/EP2416727B1/en active Active
- 2010-03-24 KR KR1020177016556A patent/KR101834712B1/en active Application Filing
- 2010-03-24 CN CN201080024150.6A patent/CN102448399B/en active Active
- 2010-03-24 KR KR1020177004436A patent/KR101750221B1/en active IP Right Grant
- 2010-03-24 KR KR1020187016858A patent/KR101942390B1/en active IP Right Grant
- 2010-03-24 KR KR1020187005406A patent/KR101870604B1/en active IP Right Grant
- 2010-03-24 KR KR1020167028449A patent/KR101709905B1/en active IP Right Grant
- 2010-03-24 WO PCT/US2010/028391 patent/WO2010117625A2/en active Application Filing
-
2013
- 2013-05-10 US US13/892,223 patent/US9055962B2/en active Active
-
2015
- 2015-05-18 US US14/714,580 patent/US9339347B2/en active Active
-
2016
- 2016-04-28 US US15/141,691 patent/US9649172B2/en active Active
-
2017
- 2017-04-13 US US15/486,904 patent/US10085809B2/en active Active
-
2018
- 2018-08-23 US US16/110,145 patent/US10806524B2/en active Active
Patent Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US6574355B2 (en) | 1992-01-21 | 2003-06-03 | Intuitive Surigical, Inc. | Method and apparatus for transforming coordinate systems in a telemanipulation system |
US5631973A (en) | 1994-05-05 | 1997-05-20 | Sri International | Method for telemanipulation with telepresence |
US6246200B1 (en) | 1998-08-04 | 2001-06-12 | Intuitive Surgical, Inc. | Manipulator positioning linkage for robotic surgery |
US6491701B2 (en) | 1998-12-08 | 2002-12-10 | Intuitive Surgical, Inc. | Mechanical actuator interface system for robotic surgical tools |
US6770081B1 (en) | 2000-01-07 | 2004-08-03 | Intuitive Surgical, Inc. | In vivo accessories for minimally invasive robotic surgery and methods |
Cited By (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US10568539B2 (en) | 2012-08-14 | 2020-02-25 | Intuitive Surgical Operations, Inc. | Systems and methods for configuring components in a minimally invasive instrument |
US11471066B2 (en) | 2012-08-14 | 2022-10-18 | Intuitive Surgical Operations, Inc. | Systems and methods for configuring components in a minimally invasive instrument |
US11944403B2 (en) | 2014-03-17 | 2024-04-02 | Intuitive Surgical Operations, Inc. | Latch to secure teleoperated surgical instrument to actuator |
US11266344B2 (en) | 2016-09-21 | 2022-03-08 | Samsung Electronics Co., Ltd. | Method for measuring skin condition and electronic device therefor |
Also Published As
Similar Documents
Publication | Publication Date | Title |
---|---|---|
US10806524B2 (en) | Optic fiber connection for a force sensing instrument | |
EP1965711B1 (en) | Force and torque sensing for surgical instruments | |
US8613230B2 (en) | Force sensing for surgical instruments | |
KR101296220B1 (en) | Modular force sensor | |
US7752920B2 (en) | Modular force sensor |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
WWE | Wipo information: entry into national phase |
Ref document number: 201080024150.6 Country of ref document: CN |
|
121 | Ep: the epo has been informed by wipo that ep was designated in this application |
Ref document number: 10716424 Country of ref document: EP Kind code of ref document: A2 |
|
NENP | Non-entry into the national phase |
Ref country code: DE |
|
ENP | Entry into the national phase |
Ref document number: 20117025090 Country of ref document: KR Kind code of ref document: A |
|
REEP | Request for entry into the european phase |
Ref document number: 2010716424 Country of ref document: EP |
|
WWE | Wipo information: entry into national phase |
Ref document number: 2010716424 Country of ref document: EP |