그림 16. 피인용 수에 따른 특허 수의 분포
| ○ | 로봇 기술에 속하는 특허 18656편 중 (1991-2023년 출판된 특허), 적어도 1회 이상 인용된 특허 수는 10818편(57.99%)임. |
| ○ | 로봇 기술에 속하는 특허 중 피인용수가 높은 특허 리스트를 표 18 에 나타내었음. |
표 18. 고 피인용 특허 목록
| 번호 | 특허제목(미국특허번호) | 출원인 | 패밀리 특허번호 | 피인용 수 |
|---|---|---|---|---|
| 1 | Method and apparatus for performing minimally invasive cardiac procedures (05855583) |
COMPUTER MOTION INC(US, CA, Goleta) | US 05855583 19990105 | 2144 |
| 2 | Platform link wrist mechanism (07691098) |
INTUITIVE SURGICAL INC(US, CA, Sunnyvale) | CA 2792000 A1 20030109; CA 2792000 C 20160816; AT 547992 T 20120315; US 2004162547 A1 20040819; US 7066926 B2 20060627; US 7691098 B2 20100406; US 2007156119 A1 20070705; US 2003018323 A1 20030123; US 6699235 B2 20040302; WO 03001987 A9 20040513; WO 03001987 A2 20030109; WO 03001987 A3 20031120; JP 4347043 B2 20091021; JP 2005507679 A 20050324; CA 2451824 C 20150224; CA 2451824 A1 20030109; EP 1408846 A2 20040421; EP 1408846 A4 20080709; EP 1408846 B1 20120307; AU 2002322374 B2 20061026 | 1989 |
| 3 | Shiftable drive interface for robotically-controlled surgical tool (08616431) |
ETHICON ENDO SURGERY INC(US, OH, Cincinnati) | WO 2012166501 A1 20121206; WO 2012166501 A8 20131219; US 8616431 B2 20131231; US 2012132450 A1 20120531; EP 2713895 A1 20140409; EP 2713895 B1 20190320; US 8931682 B2 20150113; US 2011290854 A1 20111201; US 11154298 B2 20211026; US 2019209164 A1 20190711; US 11147549 B2 20211019; US 2019209165 A1 20190711; US 11559302 B2 20230124; US 2020281585 A1 20200910; US 2020352562 A1 20201112; US 2022240929 A1 20220804; US 9750498 B2 20170905; US 2016015390 A1 20160121; US 10441280 B2 20191015; US 2016220248 A1 20160804; US 9795381 B2 20171024; US 2016220247 A1 20160804; US 9585658 B2 20170307; US 2016220246 A1 20160804; US 10327765 B2 20190625; US 2016249911 A1 20160901; US 9987003 B2 20180605; US 2017311945 A1 20171102; BR 112013030549 B1 20210105; BR 112013030549 A2 20170808; US 10299787 B2 20190528; US 2018280022 A1 20181004; US 10368863 B2 20190806; US 2018280023 A1 20181004; US 10363033 B2 20190730; US 2018280021 A1 20181004; US 11134938 B2 20211005; US 2018296211 A1 20181018; EP 3563789 A1 20191106; US 2014305993 A1 20141016; US 9186143 B2 20151117; CN 103687551 B 20170215; CN 103687551 A 20140326 | 1904 |
| 4 | Surgical instrument with bending articulation controlled articulation pivot joint (07481824) |
ETHICON ENDO SURGERY INC(US, OH, Cincinnati) | US 7481824 B2 20090127; US 2007152014 A1 20070705 | 1786 |
| 5 | Manipulable hand for laparoscopy (05441494) |
ETHICON INC(US, NJ, Somerville) | US 05441494 19950815 | 1622 |
| 6 | Endoscopic robotic surgical tools and methods (05624398) |
SYMBIOSIS CORP(US, FL, Miami) | US 05624398 19970429 | 1463 |
| 7 | Method and apparatus for performing minimally invasive surgical procedures (06699177) |
COMPUTER MOTION INC(US, CA, Sunnyvale) | US 6699177 B1 20040302 | 1425 |
| 8 | Medical robotic arm that is attached to an operating table (07083571) |
INTUITIVE SURGICAL(US, CA, Sunnyvale) | KR 19990087101 A 19991215; US 2004186345 A1 20040923; US 7083571 B2 20060801; US 5855583 A 19990105; US 6102850 A 20000815; US 7695481 B2 20100413; US 2008215065 A1 20080904; US 2003083648 A1 20030501; US 6905460 B2 20050614; US 2003100817 A1 20030529; WO 9729690 A1 19970821; US 2005228365 A1 20051013; US 2008228196 A1 20080918; US 6007550 A 19991228; RU 2233626 C2 20040810; IL 125822 A0 19990411; IL 125822 A 20030706; JP 2000505328 A 20000509; EP 0883376 A4 20000823; EP 0883376 A1 19981216; EP 0883376 B1 20060419; ES 2264158 T3 20061216; DE 69735708 D1 20060524; DE 69735708 T2 20060928; CA 2246713 A1 19970821; CA 2246713 C 20060815; CA 2547686 C 20111115; CA 2547686 A1 19970821; CN 1216454 A 19990512; AT 323446 T 20060515; AU 2131897 A 19970902 | 1420 |
| 9 | Surgical manipulator (05813813) |
DAUM GMBH(DE, Schwerin) | US 05813813 19980929 | 1364 |
| 10 | Surgical manipulator (05599151) |
DAUM GMBH(DE, ) | US 05599151 19970204 | 1351 |
| 11 | Methods and systems for robotic instrument tool tracking with adaptive fusion of kinematics information and image information (08108072) |
INTUITIVE SURGICAL OPERATIONS(US, CA, Sunnyvale) | US 8108072 B2 20120131; US 2009088897 A1 20090402 | 1348 |
| 12 | Apparatus and method for performing surgery on a patient (06723087) |
MEDTRONIC INC(US, MN, Minneapolis) | US 2003114838 A1 20030619; US 6723087 B2 20040420; WO 03051218 A1 20030626; EP 1467671 A1 20041020; EP 1467671 B1 20120725; AU 2002362082 A1 20030630 | 1340 |
| 13 | Ceiling and floor mounted surgical robot set-up arms (06788018) |
INTUITIVE SURGICAL INC(US, CA, Sunnyvale) | US 2004261179 A1 20041230; US 6933695 B2 20050823; US 6788018 B1 20040907 | 1331 |
| 14 | Apparatus and method for performing surgical tasks during laparoscopic procedures (05807376) |
UNITED STATES SURGICAL CORP(US, CT, Norwalk) | US 05807376 19980915 | 1323 |
| 15 | Surgical stapling instruments with rotary joint assemblies (09364230) |
Ethicon Endo-Surgery, LLC(US, PR, Guaynabo) | US 11534162 B2 20221227; US 2019142421 A1 20190516; US 11141156 B2 20211012; US 2019290274 A1 20190926; US 11141155 B2 20211012; US 2019321041 A1 20191024; US 2019321040 A1 20191024; US 11540829 B2 20230103; US 2020060680 A1 20200227; US 2020275927 A1 20200903; RU 2640002 C2 20171225; RU 2015102585 A 20160820; RU 2636191 C2 20171121; RU 2015102671 A 20160820; RU 2642947 C2 20180129; RU 2015102673 A 20160820; RU 2641977 C2 20180123; RU 2015102592 A 20160820; RU 2640003 C2 20171225; RU 2015102595 A 20160820; US 10383630 B2 20190820; US 2016331375 A1 20161117; PL 2866717 T3 20161130; US 10687812 B2 20200623; US 2017319207 A1 20171109; BR 112014032743 B1 20210817; BR 112014032743 A2 20170627; BR 112014032611 A2 20170627; BR 112014032756 A2 20170627; US 11154299 B2 20211026; US 2018353178 A1 20181213; US 11083457 B2 20210810; US 2018344319 A1 20181206; PL 2866719 T3 20181130; WO 2014004239 A1 20140103; WO 2014004300 A1 20140103; WO 2014004304 A3 20141009; WO 2014004304 A2 20140103; EP 2866717 A1 20150506; EP 2866717 B1 20160518; EP 2866681 A2 20150506; EP 2866681 B1 20200729; EP 2866721 A2 20150506; WO 2014004294 A3 20140626; WO 2014004294 A2 20140103; WO 2014004293 A1 20140103; EP 2866719 A1 20150506; EP 2866719 B1 20180613; EP 2866683 A1 20150506; US 2014001234 A1 20140102; US 2014001235 A1 20140102; US 9408606 B2 20160809; US 2014001236 A1 20140102; US 9364230 B2 20160614; US 2014005678 A1 20140102; US 2014005679 A1 20140102; US 9226751 B2 20160105; CN 104602618 A 20150506; CN 104602618 B 20171117; CN 104582594 A 20150429; CN 104582594 B 20170922; CN 104582625 A 20150429; CN 104582625 B 20170405; CN 104582626 A 20150429; CN 104582626 B 20170606; CN 104582628 A 20150429; CN 104582628 B 20170718; JP 2015523147 A 20150813; JP 6262223 B2 20180117; JP 2015523148 A 20150813; JP 6262224 B2 20180117; JP 2015524286 A 20150824; JP 6271532 B2 20180131; JP 6189433 B2 20170830; JP 2015525612 A 20150907; JP 6208230 B2 20171004; JP 2015526140 A 20150910; US 10258333 B2 20190416; US 2016000513 A1 20160107; US 10874391 B2 20201229; US 2016106431 A1 20160421; US 10485541 B2 20191126; US 2016206310 A1 20160721 | 1314 |
| 16 | Arm cart for telerobotic surgical system (06837883) |
INTUITIVE SURGICAL INC(US, CA, Mountain View) | EP 3042625 B1 20190501; EP 3042625 A1 20160713; US 2014195048 A1 20140710; US 8914150 B2 20141216; US 8666544 B2 20140304; US 2013304256 A1 20131114; US 8504201 B2 20130806; US 2012130399 A1 20120524; EP 2444006 B1 20150826; EP 2444006 A2 20120425; EP 2444005 B1 20150819; EP 2444005 A2 20120425; EP 2444006 A3 20120718; EP 2444005 A3 20120718; EP 2444004 A3 20120718; EP 2444004 A2 20120425; EP 2444004 B1 20160302; AT 547060 T 20120315; ES 2381462 T3 20120528; US 8489235 B2 20130716; US 2011137322 A1 20110609; EP 2298222 A3 20120307; EP 2298222 A2 20110323; EP 2138105 A2 20091230; EP 2138105 B1 20120229; EP 2138105 A3 20100331; DE 69941600 D1 20091210; AT 446721 T 20091115; US 2002082612 A1 20020627; US 6837883 B2 20050104; US 7865266 B2 20110104; US 2003216715 A1 20031120; US 2003013949 A1 20030116; US 6659939 B2 20031209; WO 0030548 A8 20010726; WO 0030548 A9 20020822; WO 0030548 B1 20000914; WO 0030548 A1 20000602; EP 1131004 A4 20070711; EP 1131004 A1 20010912; EP 1131004 B1 20091028 | 1301 |
| 17 | Method and apparatus for performing minimally invasive cardiac procedures (05762458) |
COMPUTER MOTION INC(US, CA, Goleta) | US 05762458 19980609 | 1283 |
| 18 | Robot for surgical applications (07126303) |
UNIV NEBRASKA(US, NE, Lincoln) | US 2006119304 A1 20060608; US 7126303 B2 20061024; US 2007080658 A1 20070412; US 7372229 B2 20080513; US 2008111513 A1 20080515 | 1258 |
| 19 | Treating instrument (05372124) |
OLYMPUS OPTICAL CO(JP, Tokyo) | US 05372124 19941213 | 1243 |
| 20 | Flexible robotic arm (05142932) |
The United States of America as represented by the Administrator of the National Aeronautics and Space Administration(US, DC, Washington) | US 05142932 19920901 | 1233 |
| 21 | Manipulator positioning linkage for robotic surgery (06441577) |
INTUITIVE SURGICAL INC(US, CA, Sunnyvale) | DE 69940850 D1 20090618; US 2001013764 A1 20010816; US 6441577 B2 20020827; US 6246200 B1 20010612; WO 0007503 A1 20000217; EP 1109497 A4 20070711; EP 1109497 A1 20010627; EP 1109497 B1 20090506; AU 5391999 A 20000228 | 1231 |
| 22 | Chuck with position detecting function (06428070) |
SMC CORP(JP, Tokyo) | US 6428070 B1 20020806; TW 464591 B 20011121; GB 0024803 D0 20001122; GB 2367803 A 20020417; GB 2367803 B 20030115; JP 2001018185 A 20010123; JP 3293802 B2 20020617; CN 1349878 A 20020522; CN 1296183 C 20070124 | 1204 |
| 23 | Surgical system instrument sterile adapter (09096033) |
INTUITIVE SURGICAL OPERATIONS(US, CA, Sunnyvale) | KR 20130069662 A 20130626; KR 101812990 B1 20171228; KR 20130076825 A 20130708; KR 20130085952 A 20130730; KR 101780238 B1 20170921; JP 2013528064 A 20130708; JP 5775154 B2 20150909; JP 2013528065 A 20130708; JP 2013526337 A 20130624; JP 5849090 B2 20160127; KR 20130108091 A 20131002; KR 101812485 B1 20171228; JP 5782114 B2 20150924; JP 2013530738 A 20130801; CN 102892363 A 20130123; CN 102892374 B 20150624; CN 102892374 A 20130123; CN 102892375 B 20150819; CN 102892375 A 20130123; CN 102892376 A 20130123; CN 102892376 B 20160420; US 8784435 B2 20140722; US 2013079794 A9 20130328; US 2011282351 A1 20111117; US 8945148 B2 20150203; US 2011282356 A1 20111117; US 2011282357 A1 20111117; US 8852208 B2 20141007; US 2011282358 A1 20111117; US 2011282359 A1 20111117; US 9301807 B2 20160405; US 9096033 B2 20150804; US 2011277775 A1 20111117; US 8746252 B2 20140610; US 2011277776 A1 20111117; WO 2011143021 A1 20111117; WO 2011143022 A1 20111117; WO 2011143023 A1 20111117; WO 2011143024 A1 20111117; EP 2568913 A1 20130320; EP 2568913 B1 20200212; EP 2568908 A1 20130320; EP 2568908 B1 20200311; WO 2011143020 A1 20111117; WO 2011143016 A1 20111117; EP 2568909 A1 20130320; EP 2568909 B1 20171108; EP 2568894 A1 20130320; US 2022183780 A1 20220616; US 2022296322 A1 20220922; US 2021220066 A1 20210722; KR 102455184 B1 20221018; KR 20210118956 A 20211001; US 2021085411 A1 20210325; US 2020246096 A1 20200806; US 2020268465 A1 20200827; KR 102304696 B1 20210927; KR 20200128204 A 20201111; US 11376086 B2 20220705; US 2020000490 A1 20200102; CN 110604619 B 20230124; CN 110604619 A 20191224; EP 3673857 A1 20200701; EP 3677209 A1 20200708; KR 102176624 B1 20201109; KR 20200017545 A 20200218; US 11278364 B2 20220322; US 2020106937 A1 20200402; KR 102076823 B1 20200212; KR 20190029792 A 20190320; US 10856946 B2 20201208; US 2018353204 A1 20181213; KR 101990357 B1 20190618; KR 20180116482 A 20181024; US 10918449 B2 20210216; US 2018214176 A1 20180802; BR 112012029169 B1 20200505; BR 112012029169 A2 20170718; KR 101894849 B1 20180905; KR 20180054907 A 20180524; KR 101960345 B1 20190320; KR 20180049252 A 20180510; KR 101856099 B1 20180509; KR 20180008795 A 20180124; KR 101911525 B1 20181025; KR 20180008764 A 20180124; US 10624672 B2 20200421; US 2018014852 A1 20180118; KR 101859012 B1 20180517; KR 20170107587 A 20170925; EP 3281752 B1 20200805; EP 3281752 A1 20180214; JP 6285064 B2 20180228; JP 2017153973 A 20170907; US 10456166 B2 20191029; US 2017071628 A1 20170316; BR 112012028374 A2 20170321; BR 112012028375 B1 20210112; BR 112012028375 A2 20170321; CN 105852976 B 20191105; CN 105852976 A 20160817; BR 112012028465 B1 20200407; BR 112012028465 A2 20160719; JP 6104353 B2 20170329; JP 2016052577 A 20160414; US 9801654 B2 20171031; US 2016058512 A1 20160303; US 10869730 B2 20201222; US 2015305815 A1 20151029; CN 105125263 B 20180202; CN 105125263 A 20151209; JP 6113787 B2 20170412; JP 2015211865 A 20151126; JP 6130428 B2 20170517; JP 2015154956 A 20150827; CN 104958085 B 20170926; CN 104958085 A 20151007; CN 104958111 B 20171003; CN 104958111 A 20151007; US 2015164597 A1 20150618; US 9955996 B2 20180501; US 2014326254 A1 20141106; US 10537358 B2 20200121; US 2014296872 A1 20141002; US 9757149 B2 20170912 | 1152 |
| 24 | Wrist mechanism for surgical instrument for performing minimally invasive surgery with enhanced dexterity and sensitivity (05797900) |
INTUITIVE SURGICAL INC(US, CA, Mountain View) | US 05797900 19980825 | 1131 |
| 25 | Roll joint and method for a surgical apparatus (08245594) |
INTUITIVE SURGICAL OPERATIONS(US, CA, Sunnyvale) | US 8245594 B2 20120821; US 2010160929 A1 20100624 | 1111 |
| 26 | Telepresence robot with a camera boom (08996165) |
Intouch Technologies, Inc.(US, CA, Goleta) | US 2019088364 A1 20190321; US 10073950 B2 20180911; US 2015127156 A1 20150507; US 8996165 B2 20150331; US 2010100240 A1 20100422; EP 2342651 A4 20120404; EP 2342651 A1 20110713; WO 2010047881 A1 20100429; KR 20110074519 A 20110630; CN 102203759 A 20110928; JP 2012506320 A 20120315 | 1107 |
| 27 | Passive preload and capstan drive for surgical instruments (09259274) |
INTUITIVE SURGICAL OPERATIONS(US, CA, Sunnyvale) | JP 5542288 B2 20140709; JP 2012504016 A 20120216; KR 20110069114 A 20110622; KR 101654031 B1 20160905; CN 102171006 B 20150520; CN 102171006 A 20110831; US 2010082041 A1 20100401; US 9259274 B2 20160216; WO 2010039387 A1 20100408; EP 2361170 A1 20110831; EP 2361170 B1 20180815; US 11547503 B2 20230110; US 2020352660 A1 20201112; US 2023000574 A1 20230105; CN 104970884 A 20151014; CN 104970884 B 20180928; US 10022194 B2 20180717; US 2016166342 A1 20160616; KR 101730455 B1 20170426; KR 20160105937 A 20160907; JP 6556677 B2 20190807; JP 2017018628 A 20170126; KR 101765094 B1 20170804; KR 20170047403 A 20170504; KR 20170091766 A 20170809; KR 101801297 B1 20171124; EP 3418006 A1 20181226; US 10772690 B2 20200915; US 2018311001 A1 20181101; JP 2014193417 A 20141009; JP 2014079653 A 20140508; JP 5951658 B2 20160713 | 1086 |
| 28 | Ergonomic and semi-automatic manipulator, and applications to instruments for minimally invasive surgery (08920433) |
Dexterite Surgical(FR, Annecy) | US 8920433 B2 20141230; US 2012130401 A1 20120524; EP 2459100 B1 20140312; EP 2459100 A1 20120606; WO 2011013103 A1 20110203; FR 2948594 B1 20120720; FR 2948594 A1 20110204 | 1020 |
| 29 | Maximum torque driving of robotic surgical tools in robotic surgical systems (09002518) |
INTUITIVE SURGICAL OPERATIONS(US, CA, Sunnyvale) | US 9014856 B2 20150421; US 2013110130 A1 20130502; US 9002518 B2 20150407; US 2008046122 A1 20080221 | 1019 |
| 30 | Torque-position transformer for task control of position controlled robots (07211979) |
The Broad of Trustees of the Leland Stanford Junior University(US, CA, Palo Alto) | US 2007210738 A1 20070913; US 7405531 B2 20080729; US 2006250101 A1 20061109; US 7211979 B2 20070501 | 951 |