|Publication number||US4503854 A|
|Application number||US 06/504,940|
|Publication date||Mar 12, 1985|
|Filing date||Jun 16, 1983|
|Priority date||Jun 16, 1983|
|Also published as||CA1219313A1, DE3483778D1, EP0145770A1, EP0145770A4, EP0145770B1, WO1985000010A1|
|Publication number||06504940, 504940, US 4503854 A, US 4503854A, US-A-4503854, US4503854 A, US4503854A|
|Inventors||Geza J. Jako|
|Original Assignee||Jako Geza J|
|Export Citation||BiBTeX, EndNote, RefMan|
|Patent Citations (19), Non-Patent Citations (10), Referenced by (144), Classifications (14), Legal Events (9) |
|External Links: USPTO, USPTO Assignment, Espacenet|
US 4503854 A
A laser surgical system for use in the operating room is suspended on the ceiling and can be moved horizontally in an X-Y direction. The system has the laser tubes, power supplies and cooling unit in the suspended assembly. A carbon dioxide laser for cutting and a neodymium YAG laser for coagulation excite a common optical channel. A third laser argon, or other wavelength, can be added to the system. The common optical channel couples the laser beams to an articulate arm delivery system, or a microscope micromanipulator delivery system or fiberoptics delivery system. The microscopic micromanipulator delivery system is motorized so it can be easily moved in any direction. This motorized system is also compatible with a microprocessor for automated surgery. The system also has a built-in digital television system for demonstration, recording or as a robotic eye for association wtih a computer that may help control the laser surgery.
What is claimed is:
1. Laser surgery apparatus comprising,
at least first and second laser sources of optical energy at different wavelengths for providing operating and aiming laser beams respectively,
means defining a common optical path for exchanging optical energy with a patient at the patient end of said path,
means including at least one perforated mirror for coupling said laser sources to said common optical path for allowing simultaneous delivery of optical energy from said first and second laser sources of said different wavelengths over said common optical path to said patient end,
and means for simultaneously moving said aiming and operating laser beams together over a region at said patient end.
2. Laser surgery apparatus in accordance with claim 1 and further comprising,
microscope means having its optical axis oriented along a portion of said common optical path and coupled to said means defining a common optical path for allowing a surgeon to directly observe through said microscope means the region of a patient upon which laser energy may act.
3. Laser surgery apparatus in accordance with claim 2 wherein said microscope means comprises,
perforated lens means formed with a small perforation embracing said common optical axis for passing a beam of laser energy therethrough while converging optical rays from said region of a patient.
4. Laser surgery apparatus in accordance with claim 2 and further comprising,
articulated arm means having a hand piece for delivering optical energy to a patient under hand control of a surgeon,
and optical switching means in said common optical path for selectively diverting optical energy from said common optical path to said articulated arm means in a first position and to said microscope means in a second position.
5. Laser surgery apparatus in accordance with claim 4 and further comprising,
fiberoptic coupling means for coupling optical energy from said articulated arm means to said hand piece.
6. Laser surgery apparatus in accordance with claim 2 and further comprising control means in proximity to said microscope means for enabling a surgeon to control movement of said laser energy upon said patient.
7. Laser surgery apparatus in accordance with claim 6 wherein said control means comprises joystick means coupled to a reflecting mirror in said optical path for selectively positioning said mirror.
8. Laser surgery apparatus in accordance with claim 7 and further comprising,
a source of aiming optical energy and means for coupling the latter source to said common optical path for providing an aiming beam for illuminating said patient corresponding to the intersection of said common optical path with said patient to allow a surgeon to selectively position said common optical path to establish its intersection with said patient at a predetermined region where laser treatment is desired.
9. Laser surgery apparatus in accordance with claim 7 and further comprising,
trigger switch means on said joystick means for selectively controlling the flow of energy over said common optical path.
10. Laser surgery apparatus in accordance with claim 1 and further comprising,
a source of aiming optical energy and means for coupling the latter source to said common optical paths for providing an aiming beam for illuminating said patient corresponding to the intersection of said common optical path with said patient to allow a surgeon to selectively position said common optical path to establish its intersection with said patient at a predetermined region where laser treatment is desired.
11. Laser surgery apparatus in accordance with claim 1 wherein said first laser source comprises a laser from the group consisting of a CO2 laser and Nd-YAG laser.
12. Laser surgery apparatus in accordance with claim 11 wherein said second laser source comprises a laser from the group consisting of helium-neon and argon lasers.
13. Laser surgery apparatus in accordance with claim 1 and further comprising,
a housing supporting said first and second laser sources,
said means defining a common optical path comprising means suspended from said housing,
and overhead suspension means for supporting said housing and allowing selective displacement thereof in orthogonal directions in the horizontal plane.
14. Laser surgery apparatus in accordance with claim 1 and further comprising,
television camera means coupled to said common optical path for providing a video signal representative of the observed region of a patient upon which laser energy transmitted on said common optical path may act.
15. Laser surgery apparatus in accordance with claim 14 and further comprising,
microscope micromanipulator means having its optical axis oriented along a portion of said common optical path and coupled to said means defining a common optical path for allowing a surgeon to observe through and control with said microscope micromanipulator means the region of a patient upon which laser energy may act,
said microscope micromanipulator means carrying said television camera means.
16. Laser surgery apparatus comprising,
at least first and second laser sources of optical energy at different wavelengths,
means defining a common optical path for exchanging optical energy with a patient,
means for coupling said laser sources to said common optical path,
focusable turret lens means in said common optical path having a first lens selectively positionable in said common optical path for focusing energy from said first laser source,
second lens means selectively positionable in said common optical path for focusing energy from said second laser source,
and third lens means selectively positionable in said common optical path for focusing energy at a plurality of optical wavelengths.
17. Laser surgery apparatus in accordance with claim 15 and further comprising,
interlocking means associated with said first and second lens means for allowing said first laser source and said second laser source to provide energy over said common optical path only when said first and second lens means respectively are positioned in said common optical path.
18. Laser surgery apparatus comprising,
at least a first laser source,
means defining a common optical path for exchanging optical energy with a patient,
means for coupling said laser source to said common optical path,
and microscope means having its optical axis oriented along a portion of said common optical path and coupled to directly said means defining a common optical path for allowing a surgeon to observe through said microscope means the region of a patient upon which laser energy may act,
said microscope means comprising perforated lens means formed with an opening embracing said common optical path for passing a beam of laser energy therethrough while focusing optical energy from said region of a patient.
19. Laser surgery apparatus in accordance with claims 17 or 3 wherein said first laser source comprises a CO2 laser and said second laser source comprises a Nd-YAG laser.
The present invention relates in general to laser surgery and more particularly concerns novel apparatus and techniques for performing a wide variety of surgical procedures in an operating room with precision and reduced trauma for patients while facilitating observation and recordation through the use of laser sources of different wavelengths transmittable to a patient over a common optical path that is also observable by the surgeon.
As an example of prior art laser surgical apparatus reference is made to U.S. Pat. Nos. 3,487,835, 3,528,424, 3,642,007, 3,659,613, 3,769,963, 3,796,220, 3,865,113, 3,865,114, 3,910,276, 4,069,823, 4,170,997 and 4,174,154.
It is an important object of this invention to provide an improved laser surgical system.
According to the invention, there is means defining a common optical path for exchanging optical energy with a patient on an operating table, at least first and second laser sources of different wavelength, means for coupling the first and second laser sources to the common optical path for allowing simultaneous delivery of optical energy from the first and second laser sources of the different wavelengths over the common optical path, and means for selectively positioning the common optical path. Preferably, there is optical observing means, such as a microscope, and means for coupling the optical observing means to the common optical path for allowing a surgeon to directly observe through the optical observing means the region of a patient upon which laser energy may act. Preferably the apparatus is suspended over the operating table from rails that facilitate X-Y movement in the horizontal plane, and the common optical path comprises a telescoping assembly that allows movement in the Z direction. The system may include vents, an aspirator and a fiberoptic lighting system for illuminating with sterile disposable plastic covers. Preferably one of the laser sources is a carbon dioxide laser for cutting and a second is a neodymium YAG laser for coagulation, or evaporation.
Numerous other features, objects and advantages of the invention will become apparent from the following specification when read in connection with the accompanying drawing in which:
FIG. 1 is a perspective view of an embodiment of the invention in an operating room;
FIG. 2 is a diagrammatic plan view of an embodiment of the invention illustrating the location of various system components; and
FIG. 3 is a diagrammatic representation of an exemplary optical system according to the invention helpful in understanding how the different optical signals enter the common optical path.
With reference now to the drawing and more particularly FIG. 1 thereof, there is a shown a perspective view of a multipurpose multiwavelength surgical laser system suspended from X rails 11 and 12 and Y rails 13 and 14. X rails 11 and 12 support Y rails 13 and 14 which support housing 15. Housing 15 includes the lasers with associated power supplies, controllers and cooling systems and supports accessory operating room light 16 and other elements in the system positionable in X, Y and Z as described below. A stationary column 118 depends from housing 15 and accommodates telescoping column 113 comprising a common optical path for transmitting energy from a laser source and allowing the surgeon to observe the incision. A motor (not shown) may provide mechanical energy for lowering and raising the telescoping structure 113 as indicated by arrows A in accordance with well-known techniques, not described in detail herein to avoid obscuring the principles of the invention, when actuated by an appropriate control button on switch pad 112 to provide Z-axis positioning.
A microscopic delivery system arm 110 selectively angularly displaced about its fixed end by motor 114, as indicated by arrows D--D, and manually rotatable about vertical and horizontal axes, as indicated by arrows B and C, is carried by and optically coupled to end section 121 and includes a microscope 115 with variable magnification. A switch pad 112 controls motor 114 to selectively raise and lower the delivery arm 110 with fine and coarse adjustment in accordance with well-known techniques. Switch pad 112 may be used to effect X-Y positioning of the apparatus by releasing brakes, such as 102, to allow manual movement. Electromechanical brake 102, which may be of conventional type, mechanically grasps the rail 11 when deenergized, and the solenoid acts against a spring when a solenoid is energized to release the brake and allow movement, thereby normally keeping the assembly stationary for observation and/or cutting, and/or coagulating. The brakes for rails 13 and 14 are not visible in FIG. 1 and are in cabinet 15. Air piston shock absorbers, such as 103X and 103Y, cushion the chock when the assembly reaches the ends of a pair of rails.
A television camera 119 provides a television signal of what is observed through microscope 115 for display on television monitor 120 and may also deliver this signal to a hard copy printer or video recorder system for recording. Television camera 119 may also comprise a robotic eye when the invention is used in connection with an automatic control system to, for example, guide and control the cutting laser along a predetermined path.
The invention may also include an articulated arm delivery system 107 terminating in a hand piece coupler assembly 108 which may be used by a surgeon in a manner analogous to a scalpel, while using laser energy not only for cutting, but also for coagulating. A hand piece may be coupled to system 107 by a short fiberoptics coupler. This coupling arrangement is shown magnified as optical input jack 108A, fiberoptic cable 108B and endoscope 108C.
The apparatus is suspended above an operating table 21 above a patient 22 where it may be conveniently controlled by a surgeon having access to control panel 109, microscope 115, joystick 117 with a trigger switch on its end and/or a footswitch (not shown) and switch pad 112. Actuating the trigger switch or footswitch typically operates shutter A or B (FIG. 3) to allow laser energy from an associated laser to enter the common optical path as described below. Keyboard 116 on control panel 109 may be used to enter appropriate commands for CW and/or pulsed operation of the lasers or other information when the apparatus is used in connection with a computer. Meters 111 indicate appropriate power level operating information, or laser potentials and/or currents.
An optical switch 106 allows manual direction of laser energy selectively into the telescoping assembly below or the articulated arm 107. Power cables 104 provide electrical power to the lasers and associated equipment in housing 15. Water hoses 105 provide water for cooling.
Referring to FIG. 2, there is shown a diagrammatic representation of units in housing 15. Housing 15 may include an aiming laser with power supply 202, carbon dioxide laser 203, cooling package 205 and 207, carbon dioxide laser power supply 206, neodymium YAG laser 204, neodymium YAG laser power supply 208 and a conventional control unit 209, containing relays, interlocks, circuit breakers, controls for the operating modes of the lasers and the like. Optical port 201 admits laser beam energy to the telescope below.
Referring to FIG. 3, there is shown a diagrammatic representation of the optical system according to the invention. HeNe or Argon laser 202 illuminates a 45° reflector 302 that deflects the beam along the axis 31 of the telescoping section below through coated mirrors 304 and 305. Coated mirror 304 receives the laser beam from neodymium YAG laser 204 through focusing lens 301. Perforated mirror 305 receives the laser beam from CO2 laser 203. With reflecting mirror 306 actuated by switch 106 (FIG. 1) positioned as shown, 45° coated mirrors 308 and 309 deflect one or more active beams through focusable turret 310 upon movable mirror 311 and through perforated collimating lens 316 of the microscope to patient 22. Turret 310 includes three lenses; one for CO2 laser and aiming light, the second for Nd-YAG laser and aiming light, and the third a compromise for all wavelengths. The first two are interlocked by interlocking means 320 so that only the associated laser can operate when a respective lens is positioned along the common optical path. The surgeon may then observe through microscope 315 the effect of the laser on the patient while controlling its position with joystick 117. The perforation on axis of lens 316 passes the laser beam freely while the remaining portion acts as a collimating lens for viewing and recording. The microscope may also include an indicator for power output, lasers then being used and interlock indicator.
Electromechanical shutters A and B intercept the outputs of Nd-YAG and CO2 lasers 204 and 203 respectively with a 45° mirror to also function as a heat sink power meter element when positioned as shown in accordance with well-known techniques.
With reflecting mirror 306 positioned as represented by dotted line 306b, the active laser beam is directed upon reflecting mirror 307 into articulated arm delivery system 107.
Joystick 117 moves mirror 311 to facilitate aiming the beam where desired. Alternatively, X-Y controller 313 preferably includes stepping motors for positioning mirror 311. Optics 314 preferably includes an interlocked protective optic filter interposed when Nd-YAG laser 204 or other high power laser is being used.
Television camera 119 preferably receives an optical image of the area of the patient being treated surgically through a 45° prism 317 and zoom lens 318 of a known type not described in detail to avoid obscuring the principles of the invention.
The invention has a number of advantages. It provides a multipurpose multiwavelength laser system having the flexibility to deliver one or more beams under precise convenient practical control of the operating surgeon while being compatible with computer operation. It may be installed in a dedicated operating room that allows the surgeon to develop new procedures where in whole, or in part, the laser surgical system may be used to achieve more precision and less invasive surgery. The invention is also compatible with diagnostic instrumentation having computer storage in which stored diagnostic information may be processed for automatic or semiautomatic surgery. Then, suitable stepping motors or other drives may be included for controlling movement along directions B and C as well as A and D. For example, information of a CAT scan or NMR of the patient in computer storage may be processed and utilized to assist the surgeon in removing tissue more uniformly and speedily.
It is evident that those skilled in the surgical and other technical arts may now make numerous uses and modifications of and departures from the specific apparatus and techniques described herein without departing from the inventive concepts. Consequently, the invention is to be construed as embracing each and every novel feature and novel combination of features present in or possessed by the apparatus and techniques herein disclosed and limited solely by the spirit and scope of the appended claims.
|Cited Patent||Filing date||Publication date||Applicant||Title|
|US3487835 *||Jul 5, 1968||Jan 6, 1970||American Optical Corp||Surgical laser photo-coagulation device|
|US3528424 *||Feb 17, 1967||Sep 15, 1970||Ayres Waldemar A||Laser surgical knife equipment|
|US3566872 *||Nov 21, 1968||Mar 2, 1971||Moeller J D Optik||Microsurgical operating unit|
|US3642007 *||Aug 12, 1969||Feb 15, 1972||Hutcheson Guilford J Jr||Continuous wave laser surgical device|
|US3659613 *||Jun 30, 1969||May 2, 1972||American Optical Corp||Laser accessory for surgical application|
|US3769963 *||Mar 31, 1972||Nov 6, 1973||L Goldman||Instrument for performing laser micro-surgery and diagnostic transillumination of living human tissue|
|US3796220 *||Mar 24, 1972||Mar 12, 1974||H Bredemeier||Stereo laser endoscope|
|US3865113 *||Dec 4, 1972||Feb 11, 1975||Laser Ind Ltd||Laser device particularly useful as surgical scalpel|
|US3865114 *||Oct 11, 1973||Feb 11, 1975||Laser Ind Ltd||Laser device particularly useful as a surgical instrument|
|US3910276 *||May 23, 1974||Oct 7, 1975||American Optical Corp||Micro-surgical laser system|
|US3930504 *||Dec 21, 1973||Jan 6, 1976||Clinitex, Inc.||Portable light coagulator|
|US4009823 *||Nov 12, 1975||Mar 1, 1977||Andrei Stepanovich Nozdrovsky||Bowl of solids-concentration centrifuge|
|US4091814 *||Mar 14, 1977||May 30, 1978||Mochida Pharmaceutical Co., Ltd.||Laser optical apparatus for operation under a microscope|
|US4170997 *||Aug 26, 1977||Oct 16, 1979||Hughes Aircraft Company||Metal halide fiber optical waveguide, diamond window|
|US4174154 *||Apr 26, 1977||Nov 13, 1979||Asahi Kogaku Kogyo Kabushiki Kaisha||Laser manipulator apparatus with double pivotal mirrors|
|US4215694 *||Jun 1, 1978||Aug 5, 1980||Isakov Viktor L||Laser therapy apparatus|
|US4289378 *||Oct 15, 1979||Sep 15, 1981||Ernst Remy||Apparatus for adjusting the focal point of an operating laser beam focused by an objective|
|US4309998 *||Jun 8, 1979||Jan 12, 1982||Aron Rosa Daniele S||Process and apparatus for ophthalmic surgery|
|US4408602 *||Jan 14, 1981||Oct 11, 1983||Asahi Kogaku Kogyo Kabushiki Kaisha||Laser knife device|
|1||Jako et al., "Carbon Dioxide Laser Microsurgery . . . ", Transactions, Laser 77, Munchen, Jun. 1977.|
|2|| *||Jako et al., Carbon Dioxide Laser Microsurgery . . . , Transactions, Laser 77, Munchen, Jun. 1977.|
|3||Jako, Geza J., "An Improved Ceiling Mounted Operating Room Laser System", abstract Laser-Tokyo, 1981, pp. 17-30.|
|4||Jako, Geza J., "Large Operating Room Systems", The Biomedical Laser; Technology and Clinical Applications, 1981, pp. 184-185.|
|5||Jako, Geza J., "Laser Surgery of the Vocal Cords", The Laryngoscope, vol. 82, Dec. 1972.|
|6||Jako, Geza J., "The Use of Lasers in Cancer Surgery".|
|7|| *||Jako, Geza J., An Improved Ceiling Mounted Operating Room Laser System , abstract Laser-Tokyo, 1981, pp. 17 30.|
|8|| *||Jako, Geza J., Large Operating Room Systems , The Biomedical Laser; Technology and Clinical Applications, 1981, pp. 184 185.|
|9|| *||Jako, Geza J., Laser Surgery of the Vocal Cords , The Laryngoscope, vol. 82, Dec. 1972.|
|10|| *||Jako, Geza J., The Use of Lasers in Cancer Surgery .|
|Citing Patent||Filing date||Publication date||Applicant||Title|
|US4598311 *||Apr 11, 1984||Jul 1, 1986||Bellina Joseph H||Laser surgical operating method and apparatus|
|US4622967 *||Sep 13, 1984||Nov 18, 1986||Schachar Ronald A||Auricular instrument|
|US4638800 *||Feb 8, 1985||Jan 27, 1987||Research Physics, Inc||Laser beam surgical system|
|US4764930 *||Jan 27, 1988||Aug 16, 1988||Intelligent Surgical Lasers||Multiwavelength laser source|
|US4807596 *||Sep 11, 1986||Feb 28, 1989||Messerschmitt-Bolkow-Blohm Gmbh||Guiding probe|
|US4834091 *||Apr 10, 1987||May 30, 1989||Ott Douglas E||Intrauterine fallopian tube ostial plug and surgical process|
|US4844069 *||Feb 9, 1988||Jul 4, 1989||Kei Mori||Light rays radiation device for medical treatment|
|US4848340 *||Feb 10, 1988||Jul 18, 1989||Intelligent Surgical Lasers||Eyetracker and method of use|
|US4873417 *||Dec 24, 1987||Oct 10, 1989||Mitsubishi Denki Kabushiki Kaisha||Laser machining apparatus|
|US4881808 *||Feb 10, 1988||Nov 21, 1989||Intelligent Surgical Lasers||Imaging system for surgical lasers|
|US4901718 *||Feb 2, 1988||Feb 20, 1990||Intelligent Surgical Lasers||3-Dimensional laser beam guidance system|
|US4907586 *||Mar 31, 1988||Mar 13, 1990||Intelligent Surgical Lasers||Method for reshaping the eye|
|US4911160 *||Apr 30, 1987||Mar 27, 1990||Meditec Reinhardt Thyzel Gmbh||Apparatus for laser surgery on a patient lying on an operating table|
|US4950266 *||Oct 14, 1988||Aug 21, 1990||C. R. Bard, Inc.||Infrared laser catheter system|
|US5034010 *||Sep 22, 1989||Jul 23, 1991||Massachusetts Institute Of Technology||Optical shield for a laser catheter|
|US5049147 *||Mar 13, 1990||Sep 17, 1991||Danon Nissim N||Apparatus for computerized laser surgery|
|US5066291 *||Apr 25, 1990||Nov 19, 1991||Cincinnati Sub-Zero Products, Inc.||Solid-state laser frequency conversion system|
|US5104392 *||Oct 11, 1989||Apr 14, 1992||Massachusetts Institute Of Technology||Laser spectro-optic imaging for diagnosis and treatment of diseased tissue|
|US5106387 *||Sep 21, 1989||Apr 21, 1992||Massachusetts Institute Of Technology||Method for spectroscopic diagnosis of tissue|
|US5125404 *||Nov 21, 1989||Jun 30, 1992||Massachusetts Institute Of Technology||Apparatus and method for obtaining spectrally resolved spatial images of tissue|
|US5139494 *||Sep 4, 1991||Aug 18, 1992||Premier Laser Systems, Inc.||Multiwavelength medical laser method|
|US5147349 *||Oct 7, 1988||Sep 15, 1992||Spectra-Physics, Inc.||Diode laser device for photocoagulation of the retina|
|US5154717 *||Oct 31, 1990||Oct 13, 1992||The Board Of Regents Of The University Of Washington||Robot-aided system for surgery|
|US5172264 *||Feb 21, 1991||Dec 15, 1992||Surgilase, Inc.||Method and apparatus for combining continuous wave laser with TEA pulsed laser|
|US5176675 *||Dec 7, 1990||Jan 5, 1993||The General Hospital Corporation||Use of lasers to break down objects for removal from within the body|
|US5196004 *||Oct 25, 1989||Mar 23, 1993||C. R. Bard, Inc.||For the removal of atherosclerotic plaque|
|US5198926 *||Jan 18, 1991||Mar 30, 1993||Premier Laser Systems, Inc.||Optics for medical laser|
|US5199431 *||Oct 4, 1989||Apr 6, 1993||Massachusetts Institute Of Technology||Optical needle for spectroscopic diagnosis|
|US5236432 *||Aug 24, 1992||Aug 17, 1993||Board Of Regents Of The University Of Washington||Robot-aided system for surgery|
|US5246435 *||Feb 25, 1992||Sep 21, 1993||Intelligent Surgical Lasers||Method for removing cataractous material|
|US5264026 *||Dec 3, 1992||Nov 23, 1993||Michaud, Coolev, Erickson & Associates||Centralized laser plume evacuation system through articulating arms|
|US5289557 *||Feb 23, 1993||Feb 22, 1994||Premier Laser Systems, Inc.||Optics for medical laser|
|US5290274 *||Jun 16, 1992||Mar 1, 1994||Laser Medical Technology, Inc.||Laser apparatus for medical and dental treatments|
|US5304167 *||Jul 17, 1992||Apr 19, 1994||Premier Laser Systems, Inc.||Multiwavelength medical laser method|
|US5304173 *||Jul 20, 1993||Apr 19, 1994||Massachusetts Institute Of Technology||Spectral diagonostic and treatment system|
|US5312397 *||Sep 23, 1991||May 17, 1994||Ioan Cosmescu||Lens exchanger for a surgical laser system and method therefor|
|US5318024 *||Dec 16, 1991||Jun 7, 1994||Massachusetts Institute Of Technology||Laser endoscope for spectroscopic imaging|
|US5325393 *||Nov 6, 1992||Jun 28, 1994||Carl Zeiss, Inc.||Dual laser resonator and beam combiner|
|US5350355 *||Feb 14, 1992||Sep 27, 1994||Automated Medical Instruments, Inc.||Automated surgical instrument|
|US5387211 *||Mar 10, 1993||Feb 7, 1995||Trimedyne, Inc.||Multi-head laser assembly|
|US5403319 *||Jun 4, 1993||Apr 4, 1995||Board Of Regents Of The University Of Washington||Bone imobilization device|
|US5409511 *||Nov 23, 1993||Apr 25, 1995||Michaud, Cooley, Erickson & Associates, Inc.||Centralized laser plume evacuation system through articulating arms|
|US5425729 *||Mar 16, 1992||Jun 20, 1995||Kowa Company Ltd.||Laser coagulation system|
|US5496305 *||Jan 29, 1992||Mar 5, 1996||Massachusetts Institue Of Technology||Catheter for laser angiosurgery|
|US5571110 *||Jun 7, 1995||Nov 5, 1996||Board Of Regents Of The University Of Washington||Orthopedic saw guide for use in a robot-aided system for surgery|
|US5626595 *||Oct 11, 1994||May 6, 1997||Automated Medical Instruments, Inc.||Automated surgical instrument|
|US5632758 *||Jul 5, 1994||May 27, 1997||Automated Medical Instruments, Inc.||Automated surgical instrument|
|US5654750 *||Feb 23, 1995||Aug 5, 1997||Videorec Technologies, Inc.||Automatic recording system|
|US5655547 *||May 15, 1996||Aug 12, 1997||Esc Medical Systems Ltd.||Method for laser surgery|
|US5681307 *||Oct 26, 1994||Oct 28, 1997||Mcmahan; William H.||Fiber-optic plug and receptacle providing automatic appliance recognition|
|US5746735 *||Aug 8, 1996||May 5, 1998||Cynosure, Inc.||Ultra long pulsed dye laser device for treatment of ectatic vessels and method therefor|
|US5762608 *||Nov 10, 1994||Jun 9, 1998||Hologic, Inc.||Scanning x-ray imaging system with rotating c-arm|
|US5814038 *||Mar 27, 1997||Sep 29, 1998||Sri International||Surgical manipulator for a telerobotic system|
|US5822035 *||Aug 30, 1996||Oct 13, 1998||Heidelberg Engineering Optische Messysteme Gmbh||For in-vivo measurement of optical characteristics of birefringent material|
|US5843073 *||Mar 29, 1995||Dec 1, 1998||Rare Earth Medical, Inc.||Infrared laser catheter system|
|US5940120 *||Oct 20, 1995||Aug 17, 1999||Prince Corporation||For a vehicle|
|US5970983 *||Jul 31, 1997||Oct 26, 1999||Esc Medical Systems Ltd.||Ablation and coagulation of soft dental tissue by concurrent, coaxial, coherent radiation at different extinction lengths|
|US6159203 *||Aug 15, 1990||Dec 12, 2000||Cardiofocus, Inc.||Infrared laser catheter system|
|US6162213 *||Jan 7, 1994||Dec 19, 2000||Cincinnati Sub-Zero Products, Inc.||Multiple wavelength metal vapor laser system for medical applications|
|US6201984||Jan 26, 1995||Mar 13, 2001||International Business Machines Corporation||System and method for augmentation of endoscopic surgery|
|US6317616||Sep 15, 1999||Nov 13, 2001||Neil David Glossop||Method and system to facilitate image guided surgery|
|US6324191||Jan 12, 2000||Nov 27, 2001||Intralase Corp.||Oscillator with mode control|
|US6391022||Jan 16, 1998||May 21, 2002||Cynosure, Inc.||Ultra long pulsed dye laser device for treatment of ectatic vessels and method therefor|
|US6413264||Jun 25, 1998||Jul 2, 2002||Sri International||Surgical manipulator for a telerobotic system|
|US6436107||Mar 3, 1999||Aug 20, 2002||Computer Motion, Inc.||Method and apparatus for performing minimally invasive surgical procedures|
|US6461372||Mar 8, 2000||Oct 8, 2002||Sri International||System and method for releasably holding a surgical instrument|
|US6463361||Sep 22, 1994||Oct 8, 2002||Computer Motion, Inc.||Speech interface for an automated endoscopic system|
|US6471363||Dec 22, 2000||Oct 29, 2002||Hill-Rom Services, Inc.||Surgical theater system having light, monitors, and cameras|
|US6533776||Dec 6, 2000||Mar 18, 2003||Asah Medico A/S||Apparatus for tissue treatment|
|US6547780||Nov 30, 1998||Apr 15, 2003||Cardiofocus, Inc.||Infrared laser catheter system|
|US6575964||Feb 4, 2000||Jun 10, 2003||Sciton, Inc.||Selective aperture for laser delivery system for providing incision, tissue ablation and coagulation|
|US6579284||Apr 12, 2002||Jun 17, 2003||Cynosure, Inc.||Ultra long pulsed dye laser device for treatment of ectatic vessels and method therefor|
|US6620174||Apr 16, 2002||Sep 16, 2003||Sri International||Surgical manipulator for a telerobotic system|
|US6639623||Dec 22, 2000||Oct 28, 2003||Hill-Rom Services, Inc.||Controls for a surgical theater system|
|US6640123||Jun 7, 1995||Oct 28, 2003||Hologic Inc.||Scanning x-ray imaging system with rotating C-arm|
|US6646541||Aug 6, 1996||Nov 11, 2003||Computer Motion, Inc.||General purpose distributed operating room control system|
|US6699177||Apr 24, 2000||Mar 2, 2004||Computer Motion, Inc.||Method and apparatus for performing minimally invasive surgical procedures|
|US6714841||Oct 26, 1998||Mar 30, 2004||Computer Motion, Inc.||Head cursor control interface for an automated endoscope system for optimal positioning|
|US6726699||Aug 15, 2000||Apr 27, 2004||Computer Motion, Inc.||Instrument guide|
|US6728599||Sep 7, 2001||Apr 27, 2004||Computer Motion, Inc.||Modularity system for computer assisted surgery|
|US6743221||Mar 12, 2002||Jun 1, 2004||James L. Hobart||Laser system and method for treatment of biological tissues|
|US6770069||Jun 21, 2002||Aug 3, 2004||Sciton, Inc.||Laser applicator|
|US6785593||Apr 24, 2003||Aug 31, 2004||Computer Motion, Inc.||Modularity system for computer assisted surgery|
|US6788999 *||Mar 3, 2003||Sep 7, 2004||Sri International, Inc.||Surgical system|
|US6793653||Dec 8, 2001||Sep 21, 2004||Computer Motion, Inc.||Multifunctional handle for a medical robotic system|
|US6799088||Apr 24, 2003||Sep 28, 2004||Computer Motion, Inc.||Modularity system for computer assisted surgery|
|US6804581||Nov 28, 2001||Oct 12, 2004||Computer Motion, Inc.||Automated endoscope system for optimal positioning|
|US6836703||Apr 24, 2003||Dec 28, 2004||Computer Motion, Inc.||Modularity system for computer assisted surgery|
|US6839612||Dec 7, 2001||Jan 4, 2005||Institute Surgical, Inc.||Microwrist system for surgical procedures|
|US6850817||Jun 29, 2000||Feb 1, 2005||Sri International||Surgical system|
|US6852107||Jan 16, 2002||Feb 8, 2005||Computer Motion, Inc.||Minimally invasive surgical training using robotics and tele-collaboration|
|US6871117||Apr 24, 2003||Mar 22, 2005||Intuitive Surgical, Inc.||Modularity system for computer assisted surgery|
|US6892112||Apr 17, 2003||May 10, 2005||Computer Motion, Inc.||Modularity system for computer assisted surgery|
|US6899442||Sep 13, 2002||May 31, 2005||Hill-Rom Services, Inc.||Surgical theater system having light, monitors, and cameras|
|US6905491||Dec 30, 1997||Jun 14, 2005||Intuitive Surgical, Inc.||Apparatus for performing minimally invasive cardiac procedures with a robotic arm that has a passive joint and system which can decouple the robotic arm from the input device|
|US6951535||Sep 17, 2002||Oct 4, 2005||Intuitive Surgical, Inc.||Tele-medicine system that transmits an entire state of a subsystem|
|US6963792||Sep 9, 1996||Nov 8, 2005||Sri International||Surgical method|
|US6965812||Mar 11, 2002||Nov 15, 2005||Computer Motion, Inc.||Speech interface for an automated endoscopic system|
|US7025761 *||Sep 10, 2002||Apr 11, 2006||Intultive Surgical||Method and apparatus for performing minimally invasive cardiac procedures|
|US7053752||Sep 18, 2003||May 30, 2006||Intuitive Surgical||General purpose distributed operating room control system|
|US7074179||Sep 10, 2002||Jul 11, 2006||Intuitive Surgical Inc||Method and apparatus for performing minimally invasive cardiac procedures|
|US7083571||Dec 15, 2003||Aug 1, 2006||Intuitive Surgical||Medical robotic arm that is attached to an operating table|
|US7097640||Nov 26, 2003||Aug 29, 2006||Intuitive Surgical, Inc.||Multi-functional surgical control system and switching interface|
|US7118582||Oct 8, 1998||Oct 10, 2006||Computer Motion, Inc.||Method and apparatus for performing minimally invasive cardiac procedures|
|US7204844||Oct 4, 2002||Apr 17, 2007||Sri, International||System and method for releasably holding a surgical instrument|
|US7217240||Jul 14, 2004||May 15, 2007||Intuitive Surgical, Inc.||Heart stabilizer|
|US7220256||Sep 23, 2003||May 22, 2007||Hobart James L||Laser system and method for treatment of biological tissues|
|US7239940||Jan 6, 2005||Jul 3, 2007||Intuitive Surgical, Inc||Modularity system for computer assisted surgery|
|US7259652||Jun 23, 2005||Aug 21, 2007||Intuitive Surgical, Inc.||General purpose distributed operating room control system|
|US7395249||Sep 16, 2004||Jul 1, 2008||Intuitive Surgical, Inc.||Speech interface for an automated endoscope system|
|US7402159||Mar 1, 2004||Jul 22, 2008||20/10 Perfect Vision Optische Geraete Gmbh||System and method for positioning a patient for laser surgery|
|US7408439||Sep 3, 2004||Aug 5, 2008||Intuitive Surgical, Inc.||Method and apparatus for accessing medical data over a network|
|US7413565||Sep 23, 2004||Aug 19, 2008||Intuitive Surgical, Inc.||Minimally invasive surgical training using robotics and telecollaboration|
|US7495191 *||Aug 28, 2006||Feb 24, 2009||Hon Hai Precision Industry Co., Ltd.||Laser treatment apparatus|
|US7507199 *||Dec 11, 2002||Mar 24, 2009||Intuitive Surgical, Inc.||Method and apparatus for performing minimally invasive cardiac procedures|
|US7543588||Jun 21, 2006||Jun 9, 2009||Intuitive Surgical, Inc.||Multi-functional surgical control system switching interface|
|US7648513||Jul 20, 2005||Jan 19, 2010||Sri International||Surgical manipulator for a telerobotic system|
|US7682357||May 19, 2005||Mar 23, 2010||Intuitive Surgical, Inc.||Tele-medicine system that transmits an entire state of a subsystem|
|US7695481||Jul 17, 2006||Apr 13, 2010||Intuitive Surgical, Inc.||Medical robotic system with different scaling factors|
|US7824424||Aug 1, 2005||Nov 2, 2010||Sri International||System and method for releasably holding a surgical instrument|
|US7828252||Feb 1, 2006||Nov 9, 2010||Tgr Intellectual Properties, Llc||Adjustably positionable display and lighting arrangement|
|US7891621||Oct 28, 2009||Feb 22, 2011||General Electric Company||Mounting apparatus in support of a device from a platform|
|US7914521||Dec 27, 2005||Mar 29, 2011||Intuitive Surgical Operations, Inc.||Method and apparatus for performing minimally invasive cardiac procedures|
|US7977602 *||Mar 19, 2008||Jul 12, 2011||Photon Dynamics, Inc.||Laser ablation using multiple wavelengths|
|US8002767||Aug 18, 2004||Aug 23, 2011||Intuitive Surgical Operations, Inc.||Multifunctional handle for a medical robotic system|
|US8012160||Sep 18, 2006||Sep 6, 2011||Sri International||System and method for releasably holding a surgical instrument|
|US8048088||Dec 9, 2009||Nov 1, 2011||Sri International||Surgical manipulator for a telerobotic system|
|US8287524 *||Dec 18, 2006||Oct 16, 2012||Jerry Siegel||Apparatus and method for performing radiation energy treatments|
|US8398042||Mar 24, 2010||Mar 19, 2013||American Sterilizer Company||Ceiling-mounted docking device|
|US8489235||Dec 3, 2010||Jul 16, 2013||Intuitive Surgical Operations, Inc.||Cooperative minimally invasive telesurgical system|
|US8500753||Sep 22, 2011||Aug 6, 2013||Sri International||Surgical manipulator for a telerobotic system|
|US8504201||Nov 18, 2011||Aug 6, 2013||Intuitive Sugrical Operations, Inc.||Cooperative minimally invasive telesurgical system|
|US8527094||Dec 27, 2005||Sep 3, 2013||Intuitive Surgical Operations, Inc.||Multi-user medical robotic system for collaboration or training in minimally invasive surgical procedures|
|US8641698||Feb 17, 2006||Feb 4, 2014||Intuitive Surgical Operations, Inc.||Pivot point arm for robotic system used to perform a surgical procedure|
|US8666544||Jul 10, 2013||Mar 4, 2014||Intuitive Surgical Operations, Inc.||Cooperative minimally invasive telesurgical system|
|US8840628||Jul 10, 2013||Sep 23, 2014||Intuitive Surgical Operations, Inc.||Surgical manipulator for a telerobotic system|
|US8845681||Oct 3, 2012||Sep 30, 2014||Intuitive Surgical Operations, Inc.||Rigidly-linked articulating wrist with decoupled motion transmission|
|US8870900||Mar 21, 2007||Oct 28, 2014||Intuitive Surgical Operations, Inc.||Endoscopic beating-heart stabilizer and vessel occlusion fastener|
|US8914150||Jan 24, 2014||Dec 16, 2014||Intuitive Surgical Operations, Inc.||Cooperative minimally invasive telesurgical system|
|US8915948||Feb 15, 2008||Dec 23, 2014||Palomar Medical Technologies, Llc||Method and apparatus for photothermal treatment of tissue at depth|
|US8939891||Jun 10, 2011||Jan 27, 2015||Intuitive Surgical Operations, Inc.||Multifunctional handle for a medical robotic system|
|US20070106284 *||Dec 18, 2006||May 10, 2007||Jerry Siegel||Apparatus and method for performing radiation energy treatments|
|US20130327902 *||Jun 4, 2013||Dec 12, 2013||Leica Microsystems (Schweiz) Ag||Stand|
|EP0653922A1 *||Aug 4, 1993||May 24, 1995||Computer Motion, Inc.||Automated endoscope system for optimal positioning|
| || |
|U.S. Classification||606/11, 348/79, 348/65|
|International Classification||A61B19/00, A61B17/00, A61B18/20|
|Cooperative Classification||A61B2018/2095, A61B2017/00973, A61B18/20, A61B2018/207, A61B2018/00636, A61B2018/2025, A61B2019/2276|
|May 20, 1997||FP||Expired due to failure to pay maintenance fee|
Effective date: 19970312
|Mar 11, 1997||FPAY||Fee payment|
Year of fee payment: 12
|Mar 11, 1997||SULP||Surcharge for late payment|
|Mar 9, 1997||LAPS||Lapse for failure to pay maintenance fees|
|Oct 15, 1996||REMI||Maintenance fee reminder mailed|
|Mar 1, 1993||SULP||Surcharge for late payment|
|Mar 1, 1993||FPAY||Fee payment|
Year of fee payment: 8
|Oct 15, 1992||REMI||Maintenance fee reminder mailed|
|Sep 12, 1988||FPAY||Fee payment|
Year of fee payment: 4