LU102392B1 - An ultrasonic visualization Da Vinci intelligent robot surgical system - Google Patents
An ultrasonic visualization Da Vinci intelligent robot surgical system Download PDFInfo
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- LU102392B1 LU102392B1 LU102392A LU102392A LU102392B1 LU 102392 B1 LU102392 B1 LU 102392B1 LU 102392 A LU102392 A LU 102392A LU 102392 A LU102392 A LU 102392A LU 102392 B1 LU102392 B1 LU 102392B1
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- surgical
- vinci
- mechanical arm
- visualization
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B34/37—Master-slave robots
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/36—Image-producing devices or illumination devices not otherwise provided for
- A61B90/361—Image-producing devices, e.g. surgical cameras
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
- A61B2018/00571—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body for achieving a particular surgical effect
- A61B2018/00589—Coagulation
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- 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
- A61B18/04—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating
- A61B18/12—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating by passing a current through the tissue to be heated, e.g. high-frequency current
- A61B18/14—Probes or electrodes therefor
- A61B2018/1405—Electrodes having a specific shape
- A61B2018/1422—Hook
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/36—Image-producing devices or illumination devices not otherwise provided for
- A61B90/37—Surgical systems with images on a monitor during operation
- A61B2090/371—Surgical systems with images on a monitor during operation with simultaneous use of two cameras
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/36—Image-producing devices or illumination devices not otherwise provided for
- A61B90/37—Surgical systems with images on a monitor during operation
- A61B2090/378—Surgical systems with images on a monitor during operation using ultrasound
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B2218/00—Details of surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
- A61B2218/001—Details of surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body having means for irrigation and/or aspiration of substances to and/or from the surgical site
- A61B2218/007—Aspiration
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- Health & Medical Sciences (AREA)
- Surgery (AREA)
- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Heart & Thoracic Surgery (AREA)
- Biomedical Technology (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Robotics (AREA)
- Pathology (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Endoscopes (AREA)
Abstract
The invention discloses an ultrasonic visualization Da Vinci intelligent robot surgical system is composed of the bedside mechanical arm surgical assembly, video imaging system and doctor controlled assembly, the bedside mechanical arm surgical assembly is composed of the operating bed body, mechanical arm and mechanical host; the video imaging system is composed of the display and ultrasonic imaging display; The ultrasonic visualization Da Vinci intelligent robot surgical system, through setting the laparoscope with ultrasonic sensor, is inserted into the abdominal cavity through the abdominal wall puncture cannula. The ultrasonic sensor of the laparoscope shortens the distance between the ultrasonic sensor and the lesion, thereby reducing the requirement of ultrasonic depth, and higher ultrasonic scanning frequency can be adopted to improve the resolution of ultrasonic scanning, thus avoiding the interference of abdominal wall and intestinal gas on the ultrasonic beam, and produce highly clear scanning images, this display is consistent with the size and color of the actual tissue, after combining with AI, it can automatically identify and mark the properties of the detected tissue, such as blood vessels, fascia, etc., and automatically mark the corresponding quantitative parameters with more intuitive display.
Description
Ultrasonic visualization Da Vinci intelligent robot surgical system IE Technical Field The present invention relates to the technical field of medical instrument, in particular to an ultrasonic visualization Da Vinci intelligent robot surgical system.
Background Technology The Da Vinci surgical system is a kind of advanced robot platform. The design concept of it is to perform complicated surgeries by using minimally invasive methods. The Da Vinci robot is composed of three parts: the surgeon console, bedside mechanical arm system and imaging system. Da Vinci surgical robot increases the field of view angle; reduces the hand tremor, the "inner wrist" of the robot is more flexible than laparoscopy, and can operate around the target organ at different angles; it 1s smaller than the human hand, and can work in a limited and narrow space, enable the doctor to work in a relaxed working environment, reduce fatigue and concentrate more; and reduce the number of surgical personnel.
At present, the use of Da Vinci surgical system in the surgery process requires one laparoscopic ultrasonoscope, which only has the effect of plane display, and only the particularly experienced medical personnel can understand the image formed by the imaging system during the surgery. Moreover, the structure and tissue around the laparoscopic 1 ultrasonoscope can not be sensed well in real time, which may cause Fens damage to the blood vessels and other tissues.
For this reason, the present invention carries out comprehensive upgrade and transformation of the Da Vinci robot surgical system, and proposes an ultrasonic visualization Da Vinci intelligent robot surgical system.
Content of the Present Invention The purpose of the present invention is to provide an ultrasonic visualization Da Vinci intelligent robot surgical system to solve the above-mentioned problems in the background technology.
In order to achieve the above objectives, the present invention provides the following technical solutions: an ultrasonic visualization Da Vinci intelligent robot surgical system is composed of the bedside mechanical arm surgical assembly, video imaging system and doctor controlled assembly, the bedside mechanical arm surgical assembly is composed of the operating bed body, mechanical arm and mechanical host; the video imaging system is composed of the display and ultrasonic imaging display; the doctor controlled component is composed of the console, stereoscopic imaging visual aid component and surgical assistant chair; the doctor controlled component and the bedside mechanical arm surgery assembly are communicatively connected, and control the bedside mechanical arm surgical assembly to perform surgery, the 2 bedside mechanical arm surgical assembly is integrated with the SR ultrasonic sensor, the ultrasonic sensor is coupled with the video imaging system, and the video imaging system is set with the AI processing module and video transformation software.
Preferably, several mechanical arms are required, and the ends of the mechanical arms are respectively installed with the laparoscope, visualization ultrasonic surgical aspirator, visualization electrocoagulation hook and surgical mechanical claw, and the surface of the laparoscope is installed with the ultrasonic sensor, the surfaces of the visualization ultrasonic surgical aspirator and the visualization electrocoagulation hook are equipped with miniature camera, and several mechanical arms are connected with the mechanical host, the mechanical arm is a seven-axis mechanical arm and is controlled by the console.
Preferably, the miniature camera, ultrasonic sensor and laparoscope are coupled with the imaging system.
Preferably, the electric lifting rod is installed in the middle of the supporting leg of the operating bed body, at least four electric lifting rods are required, and all the electric lifting rods are communicatively connected with the console.
Preferably, the display is installed on the front side of the console, the ultrasonic imaging display is installed on the side of the console, and the front side of the ultrasonic imaging display is installed with the 3 stereoscopic imaging visual assistant component, the stereoscopic SR imaging visual assistant component is composed of the sliding slot set on the front side of the ultrasonic imaging display, the inner wall of the sliding slot is screwed with the lead screw, the side of the ultrasonic imaging display is fixedly connected with the servo motor, and the output shaft of the servo motor extends to the inside of the sliding slot and is fixed with the lead screw, the surface of the lead screw is screwed with the sliding table, two groups of the sliding table and the lead screw are required, the front side of the two sliding tables is fixedly connected with the vertical lead screw through bearing, the surface of the vertical lead screw 1s screwed with the transparent table, and one 3D lens is installed on the front side of the transparent table.
Preferably, the pupil tracker is installed on the front side of the 3D lens, the pupil tracker is coupled with the internal mainboard of the console, and the front surface of the sliding table is fixedly connected with the numerical control servo motor that drives the vertical lead screw to rotate. Both the motor and the CNC servo motor are connected to the internal mainboard of the console.
Preferably, the surgical assistant chair adopts the lifting structure, the backrest of the surgical assistant chair is set with the cooling fan, the storage battery is installed on the back of the backrest of the surgical assistant chair, and the liquid storage tank is fixedly connected under the 4 armrest of the surgical assistant chair, the suction tube is set in the liquid SR storage tank, the stainless steel hose is installed on the upper surface of the armrest, and one end of the suction tube passes through the stainless steel hose and is fixedly connected with the latex sucking tip.
Beneficial Effect The present invention provides an ultrasonic visualization Da Vinci intelligent robot surgical system, which has the following beneficial effects:
1. The ultrasonic visualization Da Vinci intelligent robot surgical system, through setting the laparoscope with ultrasonic sensor, is inserted into the abdominal cavity through the abdominal wall puncture cannula. The ultrasonic sensor of the laparoscope shortens the distance between the ultrasonic sensor and the lesion, thereby reducing the requirement of ultrasonic depth, and higher ultrasonic scanning frequency can be adopted to improve the resolution of ultrasonic scanning, thus avoiding the interference of abdominal wall and intestinal gas on the ultrasonic beam, and produce highly clear scanning images.
2. The ultrasonic visualization Da Vinci intelligent robot surgical system, through setting the ultrasonic imaging display, adds the ultrasonic imaging display on the basis of the original imaging system, and can display the image detected by the ultrasonic sensor on the special SR instrument of the mechanical arm, after medical specialty video transformation, this display is consistent with the size and color of the actual tissue, after combining with Al, it can automatically identify and mark the properties of the detected tissue, such as blood vessels, fascia, etc., and automatically mark the corresponding quantitative parameters with more intuitive display.
Description of Figures Figure 1 is the front view structure schematic of the present invention; Figure 2 is the enlarged view structure schematic at Part A in Figure 1; Figure 3 is the side view structure schematic of the console of the present invention.
Figure 4 is the enlarged view structure schematic of the ultrasonic imaging display in Figure 3; Figure 5 is the enlarged view structure schematic of the surgical assistant chair of the present invention.
In the figure: 1. Operating bed, 2. Mechanical arm, 3. Mechanical host, 4. Display, 5. Ultrasonic imaging display, 6. Console, 7. Surgical assistant chair, 8. Ultrasonic sensor, 9. Laparoscope, 10. Visualization cut-ultrasonic aspiration, 11. Visualization electrocoagulation hook, 12.
6
Surgical mechanical claw, 13. Miniature camera, 14. Electric lifting rods, Fens
15. Sliding slot, 16. Lead screw, 17. Servo motor, 18. Sliding table, 19. Vertical lead screw, 20. Transparent table, 21. 3D lens, 22. Numerical controlled servo motor, 23. Cooling fan, 24. Storage battery, 25. Armrest,
26. Storage tank, 27. Suction tube, 28. Stainless steel hose, 29. Latex sucking tip, 30. First amplifying intercom, 31. Second amplifying intercom, 32. Processing host. Embodiment of the Present Invention Please refer to Figures 1-5, the present invention provides a technical solution: an ultrasonic visualization Da Vinci intelligent robot surgical system is composed of the bedside mechanical arm surgical assembly, video imaging system and doctor controlled assembly. The bedside mechanical arm surgical assembly is composed of the operating table body 1, mechanical arm 2 and mechanical host 3; the video imaging system is composed of the display 4 and ultrasonic imaging display 5; the doctor controlled components compose of the console 6, stereoscopic imaging visual assistant components and surgical assistant chair 7; the doctor controlled components and bedside mechanical arm surgical component are communicatively connected to control the bedside mechanical arm surgical component to perform surgery. The bedside mechanical arm surgical component is integrated with the ultrasonic sensor 8, the ultrasonic sensor 8 is coupled with the video imaging system.
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The video imaging system is set with the AI processing module and video ns transformation software.
Through setting the laparoscope 9 with the ultrasonic sensor 8, it inserts into the abdominal cavity through the abdominal wall puncture cannula, the ultrasonic sensor 8 of the laparoscope 9 shortens the distance between the ultrasonic sensor 8 and the lesion, thereby reducing the requirement of ultrasonic depth, and higher ultrasonic scanning frequency can be adopted to improve the resolution of ultrasonic scanning, thus avoiding the interference of abdominal wall and intestinal gas on the ultrasonic beam, and produce highly clear scanning images.
Several mechanical arms 2 are required. The ends of the several mechanical arms 2 are equipped with the laparoscope 9 respectively, the visualization cut-ultrasonic aspiration 10, visualization electrocoagulation hook 11, and surgical mechanical claw 12. The surface of the laparoscope 9 is set with the ultrasonic sensor 8, the surfaces of the visualization cut-ultrasonic aspiration 10 and the visualization electrocoagulation hook 11 are equipped with the miniature camera 13, the mechanical arms 2 are connected to the mechanical host 3. The mechanical arm 2 is the seven-axis mechanical arm and is controlled by the console 6. The miniature camera 13, the ultrasonic sensor 8 and the laparoscope 9 are coupled with the imaging system.
The electric lifting rod 14 is installed in the middle of the supporting 8 leg of the operating bed body 1, at least four electric lifting rods 14 are required, and all the electric lifting rods 14 are communicatively connected with the console 6, the first amplifying intercom 30 is set on the front side of the console 6, the second amplifying intercom 31 is set on the side of the operating bed body 1, through setting two intercoms, it facilitates the communication between the surgeon and the assistant.
The display 4 is installed on the front side of the console 6, the ultrasonic imaging display 5 is installed on the side of the console 6, and the front side of the ultrasonic imaging display 5 is equipped with the stereoscopic imaging visual assistant component. The stereoscopic imaging visual assistant component is composed of the port on the front side of the ultrasonic imaging display 5. The inner wall of the chute 15 is screwed with the lead screw 16. The side of the ultrasonic imaging display 5 is fixedly connected with the servo motor 17. The output shaft of the servo motor 17 extends to the inside of the sliding slot 15 and is fixedly connected with the lead screw 16. The surface of the rod 16 is screwed with the sliding table 18, two groups of the sliding table 18 and the lead screw 16 are required, the front side of the two sliding tables 18 is fixedly connected with the vertical lead screw 19 through the bearing, and the surface of the vertical screw 19 is screwed with the transparent table 20. One 3D lens 21 is installed on the front side of the transparent table 20. The pupil tracker is installed on the front side of the 3D lens 21, 9 the pupil tracker is coupled to the internal mainboard of the console 6, SR and the front surface of the sliding table 18 is fixedly connected with the numerical controlled servo motor 22 that drives the vertical lead screw 19 to rotate, the servo motor 17 and the numerical controlled servo motor 22 are connected to the internal mainboard of the console 6, the back of the ultrasonic imaging display 5 is set with the processing host 32, and the processing host 32 is set with the AI processing module and video transformation program. The ultrasonic visualization Da Vinci intelligent robot surgical system, through setting the stereoscopic imaging visual assistant components, is convenient for the surgeon to view the stereoscopic imaging intuitively and conveniently, so that there is no need to wear 3D glasses. The system can reduce the error rate of the surgeon in the surgery, improve the surgery accuracy and reduce the surgery difficulty.
The surgical assistant chair 7 adopts the lifting structure, and the backrest of the surgical assistant chair 7 is provided with a cooling fan 23, the backrest of the surgical assistant chair 7 is installed with a storage battery 24, and a liquid storage tank 26 is fixedly connected under the armrest 25 of the surgical assistant chair 7 A suction tube 27 is inserted into the liquid storage tank 26, a stainless steel hose 28 is installed on the upper surface of the armrest 25, and one end of the suction tube 27 passes through the stainless steel hose 28 and is fixedly connected with a latex sucking tip 29. Through setting the surgical assistant chair 7, it is SR convenient for heat dissipation and nutrient solution for the surgeon to increase physical fitness.
The ultrasonic visualization Da Vinci intelligent robot surgical system, through setting the ultrasonic imaging display 5, adds the ultrasonic imaging display 5 on the basis of the original imaging system, which can display the images detected by the ultrasonic sensor 8 on the special instrument of the mechanical arm 2. Through medical specialty video transformation, it can make the display consistent with the size and color of the actual tissue. Combining with Al, it can automatically identify and mark the properties of the detected tissue, such as blood vessels, fascia, etc, and automatically mark the corresponding quantitative parameters with intuitive display.
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Claims (7)
1. The ultrasonic visualization Da Vinci intelligent robot surgical system css composed of the bedside mechanical arm surgery components, video imaging system and doctor controlled components, and is characterized by: The bedside mechanical arm surgical assembly is composed of the operating bed body (1), mechanical arm (2) and mechanical host (3); The video imaging system is composed of the display (4) and ultrasonic imaging display (5); The doctor controlled assembly includes the console (6), stereoscopic imaging visual assistant component and surgical assistant chair (7); The doctor controlled assembly is communicatively connected with the bedside mechanical arm surgical assembly, and controls the bedside mechanical arm surgical assembly to perform surgery. The bedside mechanical arm surgical assembly is integrated with the ultrasonic sensor (8), the ultrasonic sensor (8) is coupled with the video imaging system, and the video imaging system is set with the AI processing module and video transformation software.
2. The ultrasonic visualization Da Vinci intelligent robot surgical system according to Claim 1 is characterized in that: several mechanical arms (2) are required, and the ends of the mechanical arms (2) are respectively equipped with the laparoscope (9), visualized cut-ultrasonic aspiration (10), visualized electrocoagulation hook (11) and surgical mechanical claw (12), the surface of the laparoscope (9) is equipped with the ultrasonic sensor (8), the surface of the cut-ultrasonic aspiration (10) and the visualization electrocoagulation hook (11) are set with the miniature camera (13), all the mechanical arms (2) are connected with the mechanical host (3), the mechanical arm (2) is a seven-axis mechanical arm, and is controlled by the console (6).
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3. The ultrasonic visualization Da Vinci intelligent robot surgical system 102502 according to Claim 2 is characterized in that: the miniature camera (13), the ultrasonic sensor (8) and the laparoscope (9) are coupled with the imaging system.
4. The ultrasonic visualization Da Vinci intelligent robot surgical system according to Claim 1 is characterized in that: the electric lifting rod (14) is installed in the middle of the supporting leg of the operating bed body (1), at least four electric lifting rods (14) are required, and all the electric lifting rods (14) are communicatively connected with the console (6).
5. The ultrasonic visualization Da Vinci intelligent robot surgical system according to Claim 1, is characterized in that: the display (4) is installed on the front side of the console (6), and the ultrasonic imaging display (5) is installed on the side surface of the console (6), the stereoscopic imaging visual assistant component is installed on the front side of the ultrasonic imaging display (5), the stereoscopic imaging visual assistant component is composed of the sliding slot (15) set on the front side of the ultrasonic imaging display (5), the inner wall of the sliding slot (15) is screwed with the lead screw (16), the side of the ultrasonic imaging display (5) is fixedly connected with the servo motor (17), the output shaft of the servo motor (17) extends to the inside of the sliding slot (15) and is fixedly connected with the lead screw (16), the surface of the lead screw (16) is screwed with the sliding table (18), two groups of the sliding table (18) and the lead screw (16) are required, one vertical screw rod (19) is fixedly connected to the front side of the two sliding tables (18) through bearings, one transparent table (20) is screwed on the surface of the vertical screw rod (19), and one 3D lens (21) is installed on the front side of the transparent table (20).
6. The ultrasonic visualization Da Vinci intelligent robot surgical system 13
CLAIMS according to Claim 5 is characterized in that: the pupil tracker is installed on the 102502 front side of the 3D lens (21), and the pupil tracker is coupled with the internal mainboard of the console (6), the front surface of the sliding table (18) is fixedly connected with the numerical control servo motor (22) that drives the vertical screw (19) to rotate, the servo motor (17) and the numerical control servo motor (22) are connected to the mainboard inside the console (6).
7. The ultrasonic visualization Da Vinci intelligent robot surgical system according to Claim 1 is characterized in that: the surgical assistant chair (7) adopts the lifting structure, and the backrest of the surgical assistant chair (7) is set with the cooling fan (23), the storage battery (24) is installed on the back of the backrest of the surgical assistant chair (7), and the liquid storage tank (26) is fixedly connected under the armrest (25) of the surgical assistant chair (7), the suction tube (27) is connected inside the liquid storage tank (26), the stainless steel hose (28) is installed on the upper surface of the armrest (25), and one end of the suction tube (27) passes through one end the stainless steel hose (28) and is fixedly connected with latex sucking tip (29).
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| LU102392A LU102392B1 (en) | 2021-01-11 | 2021-01-11 | An ultrasonic visualization Da Vinci intelligent robot surgical system |
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| Application Number | Priority Date | Filing Date | Title |
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| LU102392A LU102392B1 (en) | 2021-01-11 | 2021-01-11 | An ultrasonic visualization Da Vinci intelligent robot surgical system |
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Citations (7)
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|---|---|---|---|---|
| US20090036902A1 (en) * | 2006-06-06 | 2009-02-05 | Intuitive Surgical, Inc. | Interactive user interfaces for robotic minimally invasive surgical systems |
| US20160000514A1 (en) * | 2014-07-03 | 2016-01-07 | Alan Ellman | Surgical vision and sensor system |
| US20170224378A1 (en) * | 2013-08-31 | 2017-08-10 | Morena Medical Appliations Ltd. | Endoscope with shared working channel |
| US20190328481A1 (en) * | 2016-09-23 | 2019-10-31 | Sony Corporation | Control device, control method, and medical system |
| US20190388162A1 (en) * | 2017-02-14 | 2019-12-26 | Intuitive Surgical Operations, Inc. | Multi-dimensional visualization in computer-assisted tele-operated surgery |
| US20200015905A1 (en) * | 2018-07-16 | 2020-01-16 | Ethicon Llc | Visualization of surgical devices |
| CN112451101A (en) * | 2020-11-30 | 2021-03-09 | 福建医科大学附属协和医院 | Ultrasonic visual DaVinci intelligent robot operation system |
-
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- 2021-01-11 LU LU102392A patent/LU102392B1/en active IP Right Grant
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20090036902A1 (en) * | 2006-06-06 | 2009-02-05 | Intuitive Surgical, Inc. | Interactive user interfaces for robotic minimally invasive surgical systems |
| US20170224378A1 (en) * | 2013-08-31 | 2017-08-10 | Morena Medical Appliations Ltd. | Endoscope with shared working channel |
| US20160000514A1 (en) * | 2014-07-03 | 2016-01-07 | Alan Ellman | Surgical vision and sensor system |
| US20190328481A1 (en) * | 2016-09-23 | 2019-10-31 | Sony Corporation | Control device, control method, and medical system |
| US20190388162A1 (en) * | 2017-02-14 | 2019-12-26 | Intuitive Surgical Operations, Inc. | Multi-dimensional visualization in computer-assisted tele-operated surgery |
| US20200015905A1 (en) * | 2018-07-16 | 2020-01-16 | Ethicon Llc | Visualization of surgical devices |
| CN112451101A (en) * | 2020-11-30 | 2021-03-09 | 福建医科大学附属协和医院 | Ultrasonic visual DaVinci intelligent robot operation system |
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