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WO2002000130A1 - Manipulateur pour interventions chirurgicales sous la surveillance d'un tomodensitometre/tomographe a resonance magnetique - Google Patents

Manipulateur pour interventions chirurgicales sous la surveillance d'un tomodensitometre/tomographe a resonance magnetique Download PDF

Info

Publication number
WO2002000130A1
WO2002000130A1 PCT/EP2001/006994 EP0106994W WO0200130A1 WO 2002000130 A1 WO2002000130 A1 WO 2002000130A1 EP 0106994 W EP0106994 W EP 0106994W WO 0200130 A1 WO0200130 A1 WO 0200130A1
Authority
WO
WIPO (PCT)
Prior art keywords
manipulator
arm
patient
extendable
drives
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.)
Ceased
Application number
PCT/EP2001/006994
Other languages
German (de)
English (en)
Inventor
Lothar Gumb
Heinz Junker
Dieter Stern
Klaus Müller
Andreas Melzer
Eckhard Hempel
Monika Riffel
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Karlsruher Institut fuer Technologie KIT
Original Assignee
Forschungszentrum Karlsruhe GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Forschungszentrum Karlsruhe GmbH filed Critical Forschungszentrum Karlsruhe GmbH
Publication of WO2002000130A1 publication Critical patent/WO2002000130A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/70—Means for positioning the patient in relation to the detecting, measuring or recording means
    • A61B5/704—Tables
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/70—Means for positioning the patient in relation to the detecting, measuring or recording means
    • A61B5/702—Posture restraints
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B2017/00367—Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like
    • A61B2017/00398—Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like using powered actuators, e.g. stepper motors, solenoids
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B2017/00831—Material properties
    • A61B2017/00902—Material properties transparent or translucent
    • A61B2017/00911—Material properties transparent or translucent for fields applied by a magnetic resonance imaging system
    • 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
    • A61B2090/374—NMR or MRI
    • 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
    • A61B2090/376—Surgical systems with images on a monitor during operation using X-rays, e.g. fluoroscopy
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/05—Detecting, measuring or recording for diagnosis by means of electric currents or magnetic fields; Measuring using microwaves or radio waves
    • A61B5/055—Detecting, measuring or recording for diagnosis by means of electric currents or magnetic fields; Measuring using microwaves or radio waves involving electronic [EMR] or nuclear [NMR] magnetic resonance, e.g. magnetic resonance imaging
    • 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
    • A61B90/10—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 for stereotaxic surgery, e.g. frame-based stereotaxis
    • A61B90/11—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 for stereotaxic surgery, e.g. frame-based stereotaxis with guides for needles or instruments, e.g. arcuate slides or ball joints
    • 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
    • A61B90/50—Supports for surgical instruments, e.g. articulated arms

Definitions

  • the present invention relates to a manipulator for use in a magnetic resonance tomograph MRT or computer tomograph CT with a continuous channel for inserting a patient support for patients according to the preamble of the first claim.
  • manipulators are suitable for remote-controlled interventions on a patient in interventional radiology. You have to move a surgical instrument in the cramped conditions in the CT or MRI to the desired position on the patient, to align it at this position in the desired direction to the patient by swiveling for the remote-controlled intervention.
  • the doctor orientates and monitors his surgical interventions with the help of imaging methods, for example with the help of CT and MRI.
  • the patient usually lies on a patient couch while the attending doctor monitors the intervention on the screen.
  • CT and MRI methods are two-dimensional sectional images through the patient's body, which are recorded at a short distance from one another and can be combined to form a three-dimensional image, a so-called tomogram of the patient's body.
  • the created tomograms show the internal organs, tissue and bone structures in detail. Any sectional images can be generated.
  • individual sectional views can be generated with CT by tilting the gantry or program-controlled with MRI.
  • the attending physician defines his access planning to the organ to be operated on subsequently and determines the coordinates for the puncture of the patient. medical instrument. This data can also be transferred to the manipulator control as position data, for example.
  • the manipulator consists of a holder to which a pivotable, rotatable and extendable manipulator arm is attached, a manipulator head which is arranged at the distal end of the manipulator arm, and a medical instrument which is pivotally inserted in the manipulator head.
  • the drives take place essentially via computer-assisted servomotors outside the MRI and are transmitted to the manipulator in the MRI by means of shafts and cable pulls. H. are arranged in the MRI. Due to its constructive design, also due to the limited space available in the channel of an MRI, the manipulator can only be used to start the mom and therefore not for universal use.
  • the task of the present invention is to further develop a manipulator as described in the introduction and to improve its handling.
  • the manipulator in CT or MRT should be universal, in particular as a carrier system for remote-controlled image-based interventions over wide areas on the patient without changing the position of the patient in the channel of an MRI or CT.
  • the invention proposes the features that are stated in the characterizing part of claim 1. Further advantageous features which further develop the invention can be seen in the characterizing parts of the subclaims.
  • the manipulator according to the invention is described below with reference to
  • a device for the manipulator-controlled injection of medical preparations into the patient's body serves as an example of a surgical instrument on the instrument head in both embodiments. Show it
  • FIG. 2 shows a view of the manipulator of the first embodiment corresponding to FIG. 1b with patient couch, patient and swiveled gantry of a CT as a schematic diagram
  • Fig. 3 is a perspective view of the manipulator of the second embodiment with patient, patient couch and pivoted gantry of a CT.
  • the first embodiment of the manipulator consists, as can be seen in FIGS. 1 a to c and 2, of a trolley 1 which is guided on special track rails on the arch support 3 by means of rollers 2 which can be seen in FIGS. 1 a and b and is motorized this is moved, furthermore an extendable part arm 4, at the distal end of which the part arm 5 pivotable about this distal end is connected.
  • the distal end piece of the pivotable partial arm serves as the manipulator head 6 with a C-arm guide 7 for the pivotable mounting of a medical instrument, in the example of an injection needle feed device 8.
  • a dosing device 11 indicated in FIGS.
  • the extendable part arm 4 can be extended parallel to the main axis of the patient by means of a spindle drive. Furthermore, this extendable partial arm can be rotated about its own axis by means of a worm wheel drive, whereby the pivoting direction of the pivotable partial arm 5 to the patient changes.
  • the two drive units mentioned are accommodated in the trolley.
  • toothed rack drives, belt drives or hydraulic or pneumatic cylinders are also suitable.
  • the worm wheel drive shown in Fig. 1 b can be replaced by pneumatic, hydraulic or belt-based drive units.
  • the pivotable partial arm 5 is attached to the distal end of the extendable arm 4 with a pivot connection 12 and can thus be pivoted in a pivot plane by means of a worm gear drive.
  • This swivel plane can be rotated about its own axis by rotating the extendable part arm 4.
  • the worm wheel drive shown in Figures 1 b and c can be replaced by pneumatic, hydraulic or belt-based drive units.
  • the arch support 3 is axially displaceable on and over the patient 10 on the patient couch 9 on a driven rail carriage guide (not shown).
  • Suitable drives for this are spindle drives which, for example in the case of an MRI application, are driven by an electric motor positioned outside the MRI and via longer shafts.
  • long-stroke hydraulic cylinders, drives with pneumatic or hydraulic turbo drives or rack and pinion drives are also suitable for an MRI application.
  • Bow support 3 is fastened to the slide guide with a quick coupling and the swivel connection 12 between the extendable and swiveling part arm is equipped with a slip coupling for manually swiveling the swiveling part arm away and thus for removing the medical instrument, in the example of the injection needle feed device 8, by the patient.
  • FIG. 2 schematically shows the manipulator of the first embodiment with an injection needle feed device 8 according to FIG. 1b, but in the operating state in a CT with patient couch 9 and a patient 10 lying on it on its stomach.
  • Patient couch 9 is displaceable along its longitudinal axis, the gantry 13 of the CT pivotable.
  • the gantry 13 of the CT is pivoted to the position of the patient 10 in such a way that a CT sectional view can be generated by the patient 10 on the sectional plane 14 shown as a line in FIG. 2.
  • the injection needle feed device 8 is aligned by the manipulator in such a way that the injection needle is located and moved directly on the cutting plane 14, an injection can advantageously be carried out solely on the set level under constant monitoring by means of an imaging CT sectional view.
  • FIG. 3 shows a perspective view of the second embodiment of the manipulator, in which, in contrast to the first embodiment described above, the arch support 3 is not attached to the patient couch 9 but to the gantry 13 of the CT and can be pivoted with it. Furthermore, the extendable part arm 4 is adapted to the shape of the channel in the gantry 13, that is to say it is kinked, the proximal end 15 of the extendable part arm 4 in the trolley 1 being radial and not tangential to the patient 10 by means of a spindle, belt, hydraulic cylinder or Rack and pinion drive is movable.
  • the relative axial movement the manipulator head 6 with the injection needle feed device 8 to the patient 10 takes place only by moving the patient bed in the CT.
  • the extendable partial arm 4 cannot be rotated about its longitudinal axis for structural reasons.
  • the swiveling device 12 is placed on the extendable arm 4 so as to be rotatable about the longitudinal axis of the distal end of the extendable arm, an electromotive worm wheel drive for the adjustment, alternatively in the case of an MRI application with a pneumatic or hydraulic turbo motor, a piezo drive or piston-based pneumatic or hydraulic drive.
  • the pivoting device 12, the pivotable arm 5 and the manipulator head 6 with C-arm guide 7 and the drives required for this in the second embodiment correspond to those in the first embodiment, but the medical instrument is fastened to the manipulator head via a quick-release quick coupling.
  • the medical instrument used can be quickly removed from the manipulator head and moved out of the CT or MRI together with the patient 10.
  • the particular advantage of the second embodiment lies in the joint pivotability of gantry 13 and manipulator. If an injection needle feed device is positioned by the manipulator in such a way that on the one hand the longitudinal axis of the injection needle lies on the cutting plane 14 and can also be inserted into the patient thereon, and on the other hand the CT sectional illustration of the patient 10 also coincides with this cutting plane, the injection needle feed device 8 can can be moved together with the cutting plane 14 when the manipulator setting is fixed. Correction of the alignment of the injection needle feed device 8 with the injection needle would then only be necessary on the cutting plane 14, ie to a limited extent. This saves part of the manipulator control for this area of application. Are certain movements of the manipulator not required during the intervention, individual drive units for the manipulator can also be dispensed with, which reduces the technical outlay and thus the costs for a manipulator.
  • the manipulator is equipped with suitable contact sensors, spacers and limit switches, which prevent the manipulator from approaching the patient 10 in an uncontrolled manner, thus preventing undesired injuries to the patient 10, and triggering a pre-programmed response, for example, the manipulator moving away from the patient.
  • suitable contact sensors spacers and limit switches, which prevent the manipulator from approaching the patient 10 in an uncontrolled manner, thus preventing undesired injuries to the patient 10, and triggering a pre-programmed response, for example, the manipulator moving away from the patient.
  • non-contact infrared detectors or temperature sensors can also be used for this purpose.
  • no magnetizable materials may be used for the drives and sensors, whereby existing electric motors may have to be replaced by pneumatic or hydraulic turbo motors, by piezo drives or piston-supported pneumatic or hydraulic drives.
  • drives for the manipulator for use in MRT as an alternative to the drives described, independent of the embodiment, electric drives lying outside the MRT are also suitable, the drive power being transmitted to the manipulator via cardan Bowden cable or cable pull drives.

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  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Engineering & Computer Science (AREA)
  • Medical Informatics (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Physics & Mathematics (AREA)
  • Pathology (AREA)
  • Biophysics (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Physical Education & Sports Medicine (AREA)
  • Robotics (AREA)
  • Magnetic Resonance Imaging Apparatus (AREA)

Abstract

L'invention concerne un manipulateur permettant de positionner des instruments médicaux sur des patients dans un tomographe à résonance magnétique ou tomodensitomètre. Ce manipulateur comporte un bras de manipulateur pivotant, rotatif, inclinable et mobile, un support de bras de manipulateur, une tête de manipulateur, agencée à l'extrémité distale du bras de manipulateur, et au moins un instrument médical, monté pivotant dans la tête de manipulateur. Ladite invention a pour objectif de perfectionner le manipulateur décrit et de faciliter sa manipulation, de sorte qu'il puisse être utilisé, de manière universelle, dans un tomodensitomètre comme dans un tomographe à résonance magnétique, en particulier en tant que système support pour des inventions sur des patients, avec commande à distance et dispositif d'assistance visuelle, sans changement de position du patient allongé. A cet effet, le support du bras de manipulateur est un chariot roulant pouvant être déplacé sur une poutre en arc de façon motorisée et le bras ou la tête de manipulateur comprend un dispositif de sécurité permettant un retrait manuel rapide de l'instrument médical du patient.
PCT/EP2001/006994 2000-06-28 2001-06-21 Manipulateur pour interventions chirurgicales sous la surveillance d'un tomodensitometre/tomographe a resonance magnetique Ceased WO2002000130A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE10030507A DE10030507C2 (de) 2000-06-28 2000-06-28 Manipulator für interventionelle und operative Eingriffe unter CT/MRT-Kontrolle
DE10030507.5 2000-06-28

Publications (1)

Publication Number Publication Date
WO2002000130A1 true WO2002000130A1 (fr) 2002-01-03

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PCT/EP2001/006994 Ceased WO2002000130A1 (fr) 2000-06-28 2001-06-21 Manipulateur pour interventions chirurgicales sous la surveillance d'un tomodensitometre/tomographe a resonance magnetique

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Country Link
DE (1) DE10030507C2 (fr)
WO (1) WO2002000130A1 (fr)

Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2007095534A1 (fr) * 2006-02-14 2007-08-23 Acist Medical Systems, Inc. Système d'imagerie médicale comportant un appareil d'injection integré
EP2022434A2 (fr) 2007-07-31 2009-02-11 Prosurgics Limited Agencement pour la manipulation d'un dispositif médical
EP2070487A3 (fr) * 2002-08-13 2010-05-12 Microbotics Corporation Système robotique microchirurgical
US8611985B2 (en) 2009-01-29 2013-12-17 Imactis Method and device for navigation of a surgical tool
EP2814403A4 (fr) * 2012-02-15 2015-10-21 Intuitive Surgical Operations Dispositif compact de manipulation d'aiguilles pour interventions ciblées
US9931167B2 (en) 2012-02-15 2018-04-03 Intuitive Surgical Operations, Inc. Minimally invasive surgical instrument to provide needle-based therapy
CN115227399A (zh) * 2022-06-22 2022-10-25 上海睿触科技有限公司 一种手术机器人模块化调整臂系统
EP4505963A1 (fr) * 2023-08-08 2025-02-12 Siemens Healthineers AG Appareil d'imagerie par résonance magnétique

Families Citing this family (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE10235963A1 (de) * 2002-04-01 2003-10-16 Ilan Elias Vorrichtung zum Erzeugen einer Passivbewegung eines Patienten in einem Magnet-Resonanz-Tomographen
US7907988B2 (en) 2002-04-01 2011-03-15 Ilan Elias Method and device for generating a passive movement in a diagnostic device
JP4113387B2 (ja) 2002-07-24 2008-07-09 シャープ株式会社 携帯端末装置並びに情報読取プログラム及びそのプログラムを記録した記録媒体
DE102004020783A1 (de) * 2004-04-27 2005-11-24 Ilan Elias Diagnosegerät
WO2005030073A1 (fr) * 2003-09-29 2005-04-07 Sepitec Foundation Dispositif pour placer des instruments ou des implants dans un organe corporel
ITSV20050040A1 (it) 2005-12-09 2007-06-10 Stefano Durante Dispositivo per la guida di aghi, in particolare aghi di biopsia o simili
KR102222712B1 (ko) * 2013-06-13 2021-03-03 더 보오드 오브 트러스티스 오브 더 유니버시티 오브 일리노이즈 로봇 수술 스테이션
US9974619B2 (en) 2015-02-11 2018-05-22 Engineering Services Inc. Surgical robot
US10772577B2 (en) 2016-02-01 2020-09-15 Epica International, Inc. Radiological imaging device

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US4979519A (en) * 1988-05-05 1990-12-25 Board Of Regents, University Of Texas System Head positioning system for accurate cranial alignment and dimension in magnetic resonance
US5280427A (en) * 1989-11-27 1994-01-18 Bard International, Inc. Puncture guide for computer tomography
WO1996008199A1 (fr) * 1994-09-16 1996-03-21 Fischer Imaging Corporation Appareil d'imagerie par resonance magnetique pour le guidage d'un instrument
DE19818785A1 (de) 1998-04-27 1999-11-04 Karlsruhe Forschzent Magnetresonanztomograph
WO2000028882A2 (fr) * 1998-11-18 2000-05-25 Microdexterity Systems, Inc. Manipulateur medical destine a un dispositif d'imagerie

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DE19627314C1 (de) * 1996-06-25 1998-04-02 Stephan Albert Dr Schmitz Positioniervorrichtung
DE19732784C1 (de) * 1997-07-30 1999-03-04 Bruker Medizintech Positioniersystem und Verfahren zur exakten Positionsbestimmung eines manuell geführten Manipulators in einem MR-Tomographen
DE19905239B4 (de) * 1999-02-02 2006-08-24 Wendt, Oliver, Dipl.-Ing. Positioniereinrichtung zur Positionierung von medizinischen Werkzeugen zur MR-gestützten Untersuchung und Behandlung von Körperteilen

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US4771785A (en) * 1986-07-25 1988-09-20 Resonex, Inc. Magnetic resonance imaging apparatus and three-axis patient positioning assembly for use therewith
US4979519A (en) * 1988-05-05 1990-12-25 Board Of Regents, University Of Texas System Head positioning system for accurate cranial alignment and dimension in magnetic resonance
US5280427A (en) * 1989-11-27 1994-01-18 Bard International, Inc. Puncture guide for computer tomography
WO1996008199A1 (fr) * 1994-09-16 1996-03-21 Fischer Imaging Corporation Appareil d'imagerie par resonance magnetique pour le guidage d'un instrument
DE19818785A1 (de) 1998-04-27 1999-11-04 Karlsruhe Forschzent Magnetresonanztomograph
WO2000028882A2 (fr) * 1998-11-18 2000-05-25 Microdexterity Systems, Inc. Manipulateur medical destine a un dispositif d'imagerie

Cited By (15)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2070487A3 (fr) * 2002-08-13 2010-05-12 Microbotics Corporation Système robotique microchirurgical
WO2007095534A1 (fr) * 2006-02-14 2007-08-23 Acist Medical Systems, Inc. Système d'imagerie médicale comportant un appareil d'injection integré
AU2008281591B2 (en) * 2007-07-31 2014-05-29 Freehand 2010 Limited An arrangement for manipulating a medical device
WO2009016411A3 (fr) * 2007-07-31 2009-04-23 Prosurgics Ltd Agencement permettant de manipuler un dispositif médical
EP2022434A3 (fr) * 2007-07-31 2009-04-08 Prosurgics Limited Agencement pour la manipulation d'un dispositif médical
EP2022434A2 (fr) 2007-07-31 2009-02-11 Prosurgics Limited Agencement pour la manipulation d'un dispositif médical
US8611985B2 (en) 2009-01-29 2013-12-17 Imactis Method and device for navigation of a surgical tool
US9795319B2 (en) 2009-01-29 2017-10-24 Imactis Method and device for navigation of a surgical tool
EP2814403A4 (fr) * 2012-02-15 2015-10-21 Intuitive Surgical Operations Dispositif compact de manipulation d'aiguilles pour interventions ciblées
US9931167B2 (en) 2012-02-15 2018-04-03 Intuitive Surgical Operations, Inc. Minimally invasive surgical instrument to provide needle-based therapy
US10188470B2 (en) 2012-02-15 2019-01-29 Intuitive Surgical Operations, Inc. Minimally invasive surgical instrument to provide needle-based therapy
US10772691B2 (en) 2012-02-15 2020-09-15 Intuitive Surgical Operations, Inc. Minimally invasive surgical instrument to provide needle-based therapy
US11950864B2 (en) 2012-02-15 2024-04-09 Intuitive Surgical Operations, Inc. Minimally invasive surgical instrument to provide needle-based therapy
CN115227399A (zh) * 2022-06-22 2022-10-25 上海睿触科技有限公司 一种手术机器人模块化调整臂系统
EP4505963A1 (fr) * 2023-08-08 2025-02-12 Siemens Healthineers AG Appareil d'imagerie par résonance magnétique

Also Published As

Publication number Publication date
DE10030507A1 (de) 2002-01-17
DE10030507C2 (de) 2003-04-24

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