CA2547686A1 - A method and apparatus for performing minimally invasive cardiac procedures - Google Patents
A method and apparatus for performing minimally invasive cardiac procedures Download PDFInfo
- Publication number
- CA2547686A1 CA2547686A1 CA002547686A CA2547686A CA2547686A1 CA 2547686 A1 CA2547686 A1 CA 2547686A1 CA 002547686 A CA002547686 A CA 002547686A CA 2547686 A CA2547686 A CA 2547686A CA 2547686 A1 CA2547686 A1 CA 2547686A1
- Authority
- CA
- Canada
- Prior art keywords
- surgical instrument
- movement
- surgeon
- handles
- coupler
- 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.)
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1689—Teleoperation
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/11—Surgical instruments, devices or methods, e.g. tourniquets for performing anastomosis; Buttons for anastomosis
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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
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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
- A61B34/35—Surgical robots for telesurgery
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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
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
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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
- A61B34/70—Manipulators specially adapted for use in surgery
- A61B34/71—Manipulators operated by drive cable mechanisms
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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
- A61B34/70—Manipulators specially adapted for use in surgery
- A61B34/72—Micromanipulators
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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
- A61B34/70—Manipulators specially adapted for use in surgery
- A61B34/75—Manipulators having means for prevention or compensation of hand tremors
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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
- A61B34/70—Manipulators specially adapted for use in surgery
- A61B34/76—Manipulators having means for providing feel, e.g. force or tactile feedback
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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
- A61B34/70—Manipulators specially adapted for use in surgery
- A61B34/77—Manipulators with motion or force scaling
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/04—Surgical instruments, devices or methods, e.g. tourniquets for suturing wounds; Holders or packages for needles or suture materials
- A61B17/0469—Suturing instruments for use in minimally invasive surgery, e.g. endoscopic surgery
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/28—Surgical forceps
- A61B17/29—Forceps for use in minimally invasive surgery
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/00017—Electrical control of surgical instruments
- A61B2017/00199—Electrical control of surgical instruments with a console, e.g. a control panel with a display
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/00017—Electrical control of surgical instruments
- A61B2017/00203—Electrical control of surgical instruments with speech control or speech recognition
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
- A61B2017/00238—Type of minimally invasive operation
- A61B2017/00243—Type of minimally invasive operation cardiac
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
- A61B2017/00238—Type of minimally invasive operation
- A61B2017/00243—Type of minimally invasive operation cardiac
- A61B2017/00247—Making holes in the wall of the heart, e.g. laser Myocardial revascularization
- A61B2017/00252—Making holes in the wall of the heart, e.g. laser Myocardial revascularization for by-pass connections, i.e. connections from heart chamber to blood vessel or from blood vessel to blood vessel
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/0046—Surgical instruments, devices or methods, e.g. tourniquets with a releasable handle; with handle and operating part separable
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- 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
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/00681—Aspects not otherwise provided for
- A61B2017/00694—Aspects not otherwise provided for with means correcting for movement of or for synchronisation with the body
- A61B2017/00703—Aspects not otherwise provided for with means correcting for movement of or for synchronisation with the body correcting for movement of heart, e.g. ECG-triggered
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/00973—Surgical instruments, devices or methods, e.g. tourniquets pedal-operated
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/11—Surgical instruments, devices or methods, e.g. tourniquets for performing anastomosis; Buttons for anastomosis
- A61B2017/1107—Surgical instruments, devices or methods, e.g. tourniquets for performing anastomosis; Buttons for anastomosis for blood vessels
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/11—Surgical instruments, devices or methods, e.g. tourniquets for performing anastomosis; Buttons for anastomosis
- A61B2017/1135—End-to-side connections, e.g. T- or Y-connections
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/28—Surgical forceps
- A61B17/29—Forceps for use in minimally invasive surgery
- A61B2017/2926—Details of heads or jaws
- A61B2017/2927—Details of heads or jaws the angular position of the head being adjustable with respect to the shaft
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/28—Surgical forceps
- A61B17/29—Forceps for use in minimally invasive surgery
- A61B2017/2926—Details of heads or jaws
- A61B2017/2927—Details of heads or jaws the angular position of the head being adjustable with respect to the shaft
- A61B2017/2929—Details of heads or jaws the angular position of the head being adjustable with respect to the shaft with a head rotatable about the longitudinal axis of the shaft
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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
- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B2034/2046—Tracking techniques
- A61B2034/2059—Mechanical position encoders
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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
- A61B34/70—Manipulators specially adapted for use in surgery
- A61B34/74—Manipulators with manual electric input means
- A61B2034/742—Joysticks
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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
- A61B90/06—Measuring instruments not otherwise provided for
- A61B2090/064—Measuring instruments not otherwise provided for for measuring force, pressure or mechanical tension
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B46/00—Surgical drapes
- A61B46/10—Surgical drapes specially adapted for instruments, e.g. microscopes
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B50/00—Containers, covers, furniture or holders specially adapted for surgical or diagnostic appliances or instruments, e.g. sterile covers
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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
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/45—Nc applications
- G05B2219/45119—Telesurgery with local assistent, voice communication
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- 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
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
- Y02A90/10—Information and communication technologies [ICT] supporting adaptation to climate change, e.g. for weather forecasting or climate simulation
Landscapes
- Health & Medical Sciences (AREA)
- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Surgery (AREA)
- Robotics (AREA)
- Animal Behavior & Ethology (AREA)
- Public Health (AREA)
- Heart & Thoracic Surgery (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- General Health & Medical Sciences (AREA)
- Biomedical Technology (AREA)
- Veterinary Medicine (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Surgical Instruments (AREA)
- Electrotherapy Devices (AREA)
- Ultra Sonic Daignosis Equipment (AREA)
- Control And Other Processes For Unpacking Of Materials (AREA)
Abstract
A system for performing minimally invasive cardiac procedures. The system includes a pair of surgical instruments that are coupled to a pair of robotic arms. The instruments have end effectors that can be manipulated to hold and suture tissue. The robotic arms are coupled to a pair of master handles by a controller. The handles can be moved by the surgeon to produce a corresponding movement of the end effectors. The movement of the handles is scaled so that the end effectors have a corresponding movement that is different, typically smaller, than the movement performed by the hands of the surgeon. The scale factor is adjustable so that the surgeon can control the resolution of the end effector movement. The movement of the end effector can be controlled by an input button, so that the end effector only moves when the button is depressed by the surgeon. The input button allows the surgeon to adjust the position of the handles without moving the end effector, so that the handles can be moved to a more comfortable position. The system may also have a robotically controlled endoscope which allows the surgeon to remotely view the surgical site. A cardiac procedure can be performed by making small incisions in the patient's skin and inserting the instruments and endoscope into the patient. The surgeon manipulates the handles and moves the end effectors to perform a cardiac procedure such as a coronary artery bypass graft.
Claims (14)
1. A medical robotic system, comprising:
a robotic arm;
a sterile bag that encloses said robotic arm;
a sterile coupler that is plugged into said robotic arm; and a surgical instrument that is plugged into said sterile coupler.
a robotic arm;
a sterile bag that encloses said robotic arm;
a sterile coupler that is plugged into said robotic arm; and a surgical instrument that is plugged into said sterile coupler.
2. The system as recited in claim 1, wherein said surgical instrument is an end effector which has a pair of fingers.
3. The system as recited in claim 2, wherein said sterile coupler includes a piston that couples said end effector fingers to an actuator within said robotic arm.
4. A medical robotic system, comprising:
a robotic arm;
a coupler that pivotally attaches to the arm;
an endoscopic surgical instrument that is held by said coupler; and a controller having a handle, the controller in electrical communication with the robotic arm; and wherein movement at the controller produces a proportional movement of the robotic arm and surgical instrument.
a robotic arm;
a coupler that pivotally attaches to the arm;
an endoscopic surgical instrument that is held by said coupler; and a controller having a handle, the controller in electrical communication with the robotic arm; and wherein movement at the controller produces a proportional movement of the robotic arm and surgical instrument.
5. The system of claim 4, wherein said coupler removably attaches to said robotic arm.
6. The system of claim 4, wherein said endoscopic surgical instrument is an articulable endoscopic surgical instrument.
7. The system of claim 6, wherein the articulable surgical instrument comprises a base, a pivot linkage, and a distal end.
8. The system of claim 7, wherein a movement at the controller results in corresponding movement of the distal end of the articulable surgical instrument relative to the base of the articulable surgical instrument.
9. The system of claim 4, wherein the coupler has an aperture formed therethrough.
10. The system of claim 8, wherein a tool attached at the distal end of the articulable surgical instrument is a stapler.
11. The system of claim 8, wherein a tool attached at the distal end of the articulable surgical instrument is a cauterizer.
12. The system of claim 10, wherein the coupler comprises a collar for attaching the surgical instrument thereto.
13. Use of the system as defined in any one of claims 1 to 3 for suturing a secondary vessel to a coronary artery of a patent.
14. Use of the system as defined in any one of claims 4 to 9 for suturing a secondary vessel to a coronary artery of a patent.
Applications Claiming Priority (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US08/603,543 US5762458A (en) | 1996-02-20 | 1996-02-20 | Method and apparatus for performing minimally invasive cardiac procedures |
US08/755,063 | 1996-10-22 | ||
US08/603,543 | 1996-10-22 | ||
US08/755,063 US5855583A (en) | 1996-02-20 | 1996-11-22 | Method and apparatus for performing minimally invasive cardiac procedures |
CA002246713A CA2246713C (en) | 1996-02-20 | 1997-02-19 | A method and apparatus for performing minimally invasive cardiac procedures |
Related Parent Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CA002246713A Division CA2246713C (en) | 1996-02-20 | 1997-02-19 | A method and apparatus for performing minimally invasive cardiac procedures |
Publications (2)
Publication Number | Publication Date |
---|---|
CA2547686A1 true CA2547686A1 (en) | 1997-08-21 |
CA2547686C CA2547686C (en) | 2011-11-15 |
Family
ID=27084454
Family Applications (2)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CA2547686A Expired - Lifetime CA2547686C (en) | 1996-02-20 | 1997-02-19 | A method and apparatus for performing minimally invasive cardiac procedures |
CA002246713A Expired - Lifetime CA2246713C (en) | 1996-02-20 | 1997-02-19 | A method and apparatus for performing minimally invasive cardiac procedures |
Family Applications After (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CA002246713A Expired - Lifetime CA2246713C (en) | 1996-02-20 | 1997-02-19 | A method and apparatus for performing minimally invasive cardiac procedures |
Country Status (13)
Country | Link |
---|---|
US (9) | US5855583A (en) |
EP (1) | EP0883376B1 (en) |
JP (1) | JP2000505328A (en) |
KR (1) | KR19990087101A (en) |
CN (1) | CN1216454A (en) |
AT (1) | ATE323446T1 (en) |
AU (1) | AU2131897A (en) |
CA (2) | CA2547686C (en) |
DE (1) | DE69735708T2 (en) |
ES (1) | ES2264158T3 (en) |
IL (1) | IL125822A (en) |
RU (1) | RU2233626C2 (en) |
WO (1) | WO1997029690A1 (en) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US10939970B2 (en) | 2019-05-22 | 2021-03-09 | Titan Medical Inc. | Robotic surgery system |
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- 1997-02-19 KR KR1019980706489A patent/KR19990087101A/en not_active Application Discontinuation
- 1997-02-19 AU AU21318/97A patent/AU2131897A/en not_active Abandoned
- 1997-02-19 CN CN97193955A patent/CN1216454A/en active Pending
- 1997-02-19 IL IL12582297A patent/IL125822A/en not_active IP Right Cessation
- 1997-02-19 DE DE69735708T patent/DE69735708T2/en not_active Expired - Lifetime
- 1997-02-19 CA CA2547686A patent/CA2547686C/en not_active Expired - Lifetime
- 1997-02-19 CA CA002246713A patent/CA2246713C/en not_active Expired - Lifetime
- 1997-02-19 JP JP09529591A patent/JP2000505328A/en active Pending
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1998
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2002
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2003
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2005
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2006
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2008
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Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US10939970B2 (en) | 2019-05-22 | 2021-03-09 | Titan Medical Inc. | Robotic surgery system |
US11653986B2 (en) | 2019-05-22 | 2023-05-23 | Titan Medical Inc. | Robotic surgery system |
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CN1216454A (en) | 1999-05-12 |
KR19990087101A (en) | 1999-12-15 |
US5855583A (en) | 1999-01-05 |
IL125822A0 (en) | 1999-04-11 |
US7083571B2 (en) | 2006-08-01 |
US20030083648A1 (en) | 2003-05-01 |
CA2547686C (en) | 2011-11-15 |
CA2246713A1 (en) | 1997-08-21 |
DE69735708D1 (en) | 2006-05-24 |
ES2264158T3 (en) | 2006-12-16 |
US20080228196A1 (en) | 2008-09-18 |
IL125822A (en) | 2003-07-06 |
US6007550A (en) | 1999-12-28 |
US20050228365A1 (en) | 2005-10-13 |
US20040186345A1 (en) | 2004-09-23 |
ATE323446T1 (en) | 2006-05-15 |
US20080215065A1 (en) | 2008-09-04 |
US6102850A (en) | 2000-08-15 |
EP0883376A4 (en) | 2000-08-23 |
CA2246713C (en) | 2006-08-15 |
WO1997029690A1 (en) | 1997-08-21 |
US7695481B2 (en) | 2010-04-13 |
RU2233626C2 (en) | 2004-08-10 |
EP0883376B1 (en) | 2006-04-19 |
EP0883376A1 (en) | 1998-12-16 |
AU2131897A (en) | 1997-09-02 |
US6905460B2 (en) | 2005-06-14 |
DE69735708T2 (en) | 2006-09-28 |
JP2000505328A (en) | 2000-05-09 |
US20030100817A1 (en) | 2003-05-29 |
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