그림 16. 피인용 수에 따른 특허 수의 분포
| ○ | 휴머노이드 로봇 기술에 속하는 특허 11438편 중 (2019-2024년 출판된 특허), 적어도 1회 이상 인용된 특허 수는 3288편(28.75%)임. |
| ○ | 휴머노이드 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 | Surgical instrument with shiftable transmission (10610313) |
INTUITIVE SURGICAL OPERATIONS(US, CA, Sunnyvale) | EP 3125810 A4 20171129; US 2020253671 A1 20200813; US 11219493 B2 20220111; EP 3125810 B1 20210224; EP 3125810 A1 20170208; JP 2017515535 A 20170615; JP 6725426 B2 20200715; CN 110755155 A 20200207; CN 110755155 B 20221115; KR 20160140843 A 20161207; KR 102395579 B1 20220509; US 2017172672 A1 20170622; US 10610313 B2 20200407; KR 102592615 B1 20231024; KR 20220143774 A 20221025; KR 102455799 B1 20221018; KR 20210127785 A 20211022; CN 106163445 A 20161123; CN 106163445 B 20191129; US 2022104894 A1 20220407; EP 3906880 A1 20211110; WO 2015153642 A1 20151008 | 730 |
| 2 | Methods, systems, and devices for causing end effector motion with a robotic surgical system (10413370) |
Ethicon LLC(US, PR, Guaynabo) | US 10945798 B2 20210316; US 2019374294 A1 20191212; US 2018221096 A1 20180809; US 10413370 B2 20190917; US 2018049812 A1 20180222; US 9943377 B2 20180417 | 705 |
| 3 | Apparatus and method for controlling an end-effector assembly (10471607) |
TITAN MEDICAL INC.(CA, Toronto) | WO 2013063674 A1 20130510; US 2014230595 A1 20140821; US 10471607 B2 20191112; US 11872694 B2 20240116; US 2023256627 A1 20230817; US 2020130201 A1 20200430; US 11571820 B2 20230207 | 598 |
| 4 | Symmetrically arranged surgical instrument articulation (10813705) |
CMR SURGICAL LIMITED(GB, Cambridge) | CN 108430374 A 20180821; CN 108430374 B 20210810; US 11071598 B2 20210727; JP 2019501699 A 20190124; JP 6932130 B2 20210908; US 10813705 B2 20201027; WO 2017098270 A1 20170615; US 2018360549 A1 20181220; US 2017165017 A1 20170615; US 10624703 B2 20200421; US 2017165009 A1 20170615; GB 2546397 A 20170719; GB 201621001 D0 20170125; GB 2546397 B 20210714; EP 3386418 A1 20181017; GB 201521803 D0 20160127; GB 201521812 D0 20160127; WO 2017098279 A1 20170615; GB 2546399 A 20170719; GB 201621013 D0 20170125; GB 2546399 B 20210526; GB 201521809 D0 20160127; EP 3386419 A1 20181017; CN 108472092 A 20180831; JP 2018538067 A 20181227; CN 108472092 B 20210604; JP 6869243 B2 20210512 | 438 |
| 5 | Electro-mechanical strap stack in robotic arms (10646292) |
INTUITIVE SURGICAL OPERATIONS(US, CA, Sunnyvale) | US 2015250549 A1 20150910; US 10595948 B2 20200324; US 2017143425 A9 20170525; US 2008021440 A1 20080124; US 10646292 B2 20200512 | 434 |
| 6 | Method for circular stapler control algorithm adjustment based on situational awareness (11109866) |
CILAG GMBH INT(CH, Zug) | US 2022000484 A1 20220106; US 2019200998 A1 20190704; US 11109866 B2 20210907 | 405 |
| 7 | Communication paths for robot arms (10919156) |
CMR Surgical Limited(GB, Cambridge) | CN 107848115 A 20180327; CN 107848115 B 20210924; JP 6960900 B2 20211105; JP 6960900 B6 20220117; JP 2018520015 A 20180726; GB 2541986 B 20210331; GB 201612779 D0 20160907; GB 2541986 A 20170308; GB 201512964 D0 20150902; ES 2937274 T3 20230327; EP 3325229 B1 20221228; EP 3325229 A1 20180530; WO 2017013450 A1 20170126; US 10919156 B2 20210216; US 2019001501 A1 20190103 | 379 |
| 8 | Articulatable members having constrained motion and related devices and methods (11109925) |
INTUITIVE SURGICAL OPERATIONS(US, CA, Sunnyvale) | KR 20220031129 A 20220311; KR 102524733 B1 20230425; KR 20230056068 A 20230426; KR 20160124795 A 20161028; KR 102367993 B1 20220225; US 2017056118 A1 20170302; US 11109925 B2 20210907; JP 6599347 B2 20191030; JP 2017512659 A 20170525; WO 2015126752 A1 20150827; EP 3107463 A1 20161228; EP 3107463 A4 20170913; CN 111481245 A 20200804; CN 106163421 A 20161123; CN 106163421 B 20210924; CN 113729963 A 20211203; US 2022054208 A1 20220224 | 344 |
| 9 | Medical devices having smoothly articulating multi-cluster joints (10959797) |
FlexDex, Inc.(US, MI, Brighton) | US 2021212785 A1 20210715; WO 2017062529 A1 20170413; BR 112018006826 A2 20181016; US 2017095922 A1 20170406; US 10959797 B2 20210330; EP 3359054 A1 20180815; EP 3359054 A4 20190814; JP 6886459 B2 20210616; JP 2018531693 A 20181101; JP 2018531694 A 20181101; EP 3359010 A1 20180815; EP 3359010 A4 20190605; WO 2017062516 A1 20170413; WO 2017062516 A8 20180524; CN 108472025 A 20180831; US 2018221045 A1 20180809 | 322 |
| 10 | Method for adaptive control schemes for surgical network control and interaction (11304699) |
CILAG GMBH INT(CH, Zug) | US 2024023966 A1 20240125; US 11304699 B2 20220419; US 2019206563 A1 20190704 | 245 |
| 11 | Surgical tool positioning based on sensed parameters (10398517) |
Ethicon LLC(US, PR, Guaynabo) | US 2018049792 A1 20180222; US 10398517 B2 20190903; WO 2018034969 A1 20180222; EP 3500204 A1 20190626; US 2019380796 A1 20191219; US 11793582 B2 20231024; CN 109640864 A 20190416; CN 109640864 B 20220128 | 232 |
| 12 | Haptic feedback controls for a robotic surgical system interface (10517686) |
COVIDIEN LP(US, MA, Mansfield) | CN 108135659 A 20180608; CN 108135659 B 20210910; WO 2017075121 A1 20170504; US 2020121407 A1 20200423; US 10835336 B2 20201117; US 10517686 B2 20191231; US 2018296291 A1 20181018; EP 3367948 A4 20190619; EP 3367948 A1 20180905 | 216 |
| 13 | Controlling robotic surgical instruments with bidirectional coupling (10667877) |
COVIDIEN LP(US, MA, Mansfield) | CN 107787207 B 20210525; CN 107787207 A 20180309; US 2018140366 A1 20180524; US 10667877 B2 20200602; JP 6771494 B2 20201021; JP 2018518281 A 20180712; WO 2016205452 A1 20161222; EP 3310288 A4 20190306; EP 3310288 A1 20180425 | 216 |
| 14 | Pulley arrangement for articulating a surgical instrument (10499891) |
CMR Surgical Limited(GB, Cambridge) | GB 201621002 D0 20170125; GB 2546398 A 20170719; GB 2546398 B 20210825; US 2017172553 A1 20170622; US 10499891 B2 20191210; CN 108472093 A 20180831; CN 108472093 B 20210604; EP 3386417 A1 20181017; JP 7233509 B2 20230306; JP 2022009934 A 20220114; CN 113243992 A 20210813; GB 2593404 A 20210922; GB 202109620 D0 20210818; GB 2593404 B 20220302; US 2020093468 A1 20200326; US 11484298 B2 20221101; GB 201521804 D0 20160127; WO 2017098273 A1 20170615; JP 6971984 B2 20211124; JP 2018538065 A 20181227 | 205 |
| 15 | Drive mechanisms for robot arms (10463436) |
CMR SURGICAL LIMITED(GB, Cambridge) | US 10531928 B2 20200114; US 2017021506 A1 20170126; JP 2018149675 A 20180927; JP 6841786 B2 20210310; EP 3325224 A1 20180530; US 10398516 B2 20190903; US 2017020614 A1 20170126; GB 2541987 A 20170308; GB 201612780 D0 20160907; GB 2541987 B 20210331; JP 6853813 B2 20210331; JP 2018527200 A 20180920; WO 2017013453 A1 20170126; US 10463436 B2 20191105; US 2017021507 A1 20170126; CN 107921629 A 20180417; CN 107921629 B 20220408; GB 201612781 D0 20160907; GB 2542254 A 20170315; GB 2542254 B 20210331; GB 2541369 B 20210331; JP 7145294 B2 20220930; JP 2021169152 A 20211028; GB 201512959 D0 20150902; GB 2541369 A 20170222; CN 114683312 A 20220701; US 2020129253 A1 20200430; US 11154371 B2 20211026; JP 2018134732 A 20180830; JP 6918739 B2 20210811 | 205 |
| 16 | Manipulator (10561471) |
OLYMPUS CORP(JP, Tokyo) | US 2017325903 A1 20171116; US 10561471 B2 20200218; EP 3254640 A1 20171213; EP 3254640 A4 20180808; WO 2016125574 A1 20160811; JP WO2016125574 A1 20170427; CN 107106251 A 20170829; JP 6125112 B2 20170510; CN 107106251 B 20191022 | 204 |
| 17 | Configuring surgical system with surgical procedures atlas (11058501) |
INTUITIVE SURGICAL OPERATIONS(US, CA, Sunnyvale) | JP 2018517506 A 20180705; JP 7166760 B2 20221108; US 2021315650 A1 20211014; US 11737841 B2 20230829; US 2018153632 A1 20180607; US 11058501 B2 20210713; EP 3307196 A1 20180418; EP 3307196 A4 20190619; CN 114376733 A 20220422; JP 2022162123 A 20221021; KR 20230054760 A 20230425; KR 102523779 B1 20230420; KR 20180006939 A 20180119; WO 2016201123 A1 20161215; US 2024024051 A1 20240125; CN 107847283 A 20180327; CN 107847283 B 20220222 | 197 |
| 18 | Software center and highly configurable robotic systems for surgery and other uses (10512514) |
INTUITIVE SURGICAL OPERATIONS(US, CA, Sunnyvale) | US 8816628 B2 20140826; US 2011264110 A1 20111027; AT E544414 T1 20120215; US 11534251 B2 20221227; US 2020060777 A1 20200227; CN 104758055 A 20150708; CN 104758055 B 20190305; EP 2332484 B2 20220608; EP 2332484 A2 20110615; EP 2332484 A3 20120926; EP 2332484 B1 20170125; US 8786241 B2 20140722; CN 101227870 A 20080723; CN 101227870 B 20120808; US 2011264108 A1 20111027; KR 20080047318 A 20080528; EP 3231386 A1 20171018; KR 101283407 B1 20130708; EP 3231386 B1 20210317; US 9554859 B2 20170131; US 2015051733 A1 20150219; US 2011264109 A1 20111027; US 8749189 B2 20140610; EP 1885273 A2 20080213; EP 1885273 B1 20120208; EP 1885273 B2 20220608; WO 2006124390 A2 20061123; WO 2006124390 A3 20070301; EP 2332483 A3 20121114; EP 2332483 A2 20110615; EP 2332483 B1 20170412; ES 2381975 T3 20120604; ES 2381975 T5 20221227; US 2018028268 A1 20180201; US 10512513 B2 20191224; US 8624537 B2 20140107; US 2011276059 A1 20111110; EP 2332477 A2 20110615; US 2011270271 A1 20111103; EP 2332477 A3 20120822; US 8823308 B2 20140902; EP 2332477 B1 20180307; EP 2332479 B1 20170705; KR 101304278 B1 20130911; EP 2332481 A2 20110615; EP 2332481 A3 20120829; EP 2332481 B1 20170705; KR 20130010093 A 20130125; KR 101304272 B1 20130911; EP 3973910 A1 20220330; EP 2332479 A3 20120822; KR 20130010092 A 20130125; EP 2332479 A2 20110615; EP 2332482 B1 20170412; EP 2332482 A3 20121128; EP 2332482 A2 20110615; US 10117714 B2 20181106; US 2017215974 A1 20170803; US 8004229 B2 20110823; US 2007013336 A1 20070118; EP 2332480 A2 20110615; EP 2332480 A3 20121010; EP 2332480 B1 20170426; KR 101304277 B1 20130911; KR 20130010091 A 20130125; US 2018042687 A1 20180215; US 10512514 B2 20191224; CN 102764159 A 20121107; CN 102764159 B 20150121; US 2011264112 A1 20111027; US 8749190 B2 20140610; EP 2332478 A3 20121114; US 8541970 B2 20130924; EP 2332478 B1 20170816; EP 2332478 A2 20110615; US 2011264111 A1 20111027; EP 3231388 A1 20171018; EP 3231388 B1 20211103; US 2021346107 A1 20211111; US 9687310 B2 20170627; US 2015032126 A1 20150129; EP 3231387 B1 20191106; EP 3231387 A1 20171018; US 2017215975 A1 20170803; US 10194998 B2 20190205; CN 114469351 A 20220513; CN 109700535 B 20220301; US 10123844 B2 20181113; US 2017215976 A1 20170803; CN 109700535 A 20190503 | 196 |
| 19 | Measuring health of a connector member of a robotic surgical system (10716639) |
COVIDIEN LP(US, MA, Mansfield) | CN 107405172 B 20210413; CN 107405172 A 20171128; JP 2018507727 A 20180322; WO 2016144937 A1 20160915; US 2020261176 A1 20200820; US 11596489 B2 20230307; CN 113040921 A 20210629; AU 2020223772 A1 20200917; JP 2020073222 A 20200514; CA 2977413 A1 20160915; US 10716639 B2 20200721; US 2018064498 A1 20180308; AU 2016229897 A1 20170824; AU 2016229897 B2 20200716; EP 3267920 A4 20190306; EP 3267920 A1 20180117 | 192 |
| 20 | Continuum devices and control methods thereof (10737398) |
UNIV VANDERBILT(US, TN, Nashville) | US 2016016319 A1 20160121; US 10737398 B2 20200811 | 191 |
| 21 | Instrument drive units (10736219) |
COVIDIEN LP(US, MA, Mansfield) | CA 3022139 A1 20171130; JP 2019527924 A 20191003; JP 6949052 B2 20211013; US 2021195747 A1 20210624; US 11523509 B2 20221206; EP 3463159 A1 20190410; EP 3463159 A4 20200122; EP 3463159 B1 20240103; US 2020337153 A1 20201022; US 10973126 B2 20210406; US 10736219 B2 20200804; US 2019223291 A1 20190718; CN 109152614 A 20190104; CN 109152614 B 20210910; CN 113328581 A 20210831; AU 2017269374 A1 20181025; AU 2017269374 B2 20210708; WO 2017205576 A1 20171130 | 188 |
| 22 | Hyperdexterous surgical system user interface devices (10617484) |
SRI International(US, CA, Menlo Park) | AU 2015392228 A1 20171102; AU 2015392228 B2 20200416; WO 2016171757 A1 20161027; BR 112017022721 A2 20180717; EP 3285673 A1 20180228; EP 3285673 A4 20190605; US 10617484 B2 20200414; US 2018168759 A1 20180621; CN 107708595 A 20180216; CN 107708595 B 20200804; KR 20170139655 A 20171219 | 187 |
| 23 | Robotic surgical systems and methods (10687905) |
KB Medical SA(CH, Lausanne) | US 11872000 B2 20240116; US 2021038326 A1 20210211; US 2017056116 A1 20170302; US 10687905 B2 20200623; JP 2018531644 A 20181101; JP 6894431 B2 20210630; WO 2017037127 A1 20170309; HK 1254334 A1 20190719; EP 3344179 B1 20210630; EP 3344179 A1 20180711 | 183 |
| 24 | System and method for collision avoidance using virtual boundaries (10717194) |
INTUITIVE SURGICAL OPERATIONS(US, CA, Sunnyvale) | CN 113384348 A 20210914; EP 3419543 A4 20190925; EP 3419543 B1 20230405; EP 3419543 A1 20190102; US 2020298406 A1 20200924; US 11485016 B2 20221101; KR 20180109855 A 20181008; CN 108472086 B 20210709; CN 108472086 A 20180831; WO 2017146890 A1 20170831; US 10717194 B2 20200721; US 2019054620 A1 20190221 | 183 |
| 25 | Robotic system with indication of boundary for robotic arm (10464209) |
Auris Health, Inc.(US, CA, Redwood City) | EP 3691556 A4 20210616; EP 3691556 A1 20200812; EP 3691556 B1 20230419; AU 2018345516 A1 20200409; CN 111343942 A 20200626; CN 111343942 B 20220809; US 2019105776 A1 20190411; US 10464209 B2 20191105; US 2023117715 A1 20230420; WO 2019070482 A1 20190411; US 11472030 B2 20221018; KR 102564587 B1 20230810; US 2020171660 A1 20200604; KR 20200071743 A 20200619; JP 2020535883 A 20201210; JP 2023090862 A 20230629 | 177 |
| 26 | User console system for robotic surgery (10568704) |
VERB SURGICAL INC.(US, CA, Mountain View) | US 11642181 B2 20230509; US 2020214773 A1 20200709; US 11446097 B2 20220920; US 2020222124 A1 20200716; JP 6811848 B2 20210113; JP 2019528838 A 20191017; US 2018078319 A1 20180322; US 10568703 B2 20200225; AU 2020201561 B2 20201029; AU 2020201561 A1 20200319; WO 2018057814 A1 20180329; EP 3515350 A4 20200527; EP 3515350 A1 20190731; KR 102216350 B1 20210218; KR 20190043140 A 20190425; US 2018078034 A1 20180322; US 10568704 B2 20200225; AU 2017330370 B2 20191205; AU 2017330370 A1 20190307; CN 108472097 A 20180831; CN 108472097 B 20220325; BR 112019004136 A2 20190716; BR 112019004136 B1 20201215; CA 3035251 A1 20180329; CA 3035251 C 20210629 | 176 |
| 27 | Sterile adapter with integrated wireless interface for use in a robotic surgical system (10736705) |
Verb Surgical Inc.(US, CA, Santa Clara) | CN 108472029 A 20180831; US 2018206931 A1 20180726; US 10736706 B2 20200811; US 2018200021 A1 20180719; US 10582980 B2 20200310; KR 20210094131 A 20210728; KR 102479143 B1 20221220; JP 2021106911 A 20210729; JP 7176035 B2 20221121; JP 2020511178 A 20200416; JP 6938634 B2 20210922; US 2018168752 A1 20180621; US 10918452 B2 20210216; CA 3043933 A1 20180628; CA 3043933 C 20210803; KR 20190086498 A 20190722; KR 102274815 B1 20210709; BR 112019010623 B1 20230124; JP 2020500606 A 20200116; JP 6831013 B2 20210217; BR 112019010623 A2 20190917; US 11337770 B2 20220524; US 2020229885 A1 20200723; US 2023346498 A1 20231102; AU 2020203096 A1 20200528; AU 2020203096 B2 20211111; EP 3518803 A1 20190807; US 2018168761 A1 20180621; EP 3518803 A4 20200610; US 11071604 B2 20210727; US 10905513 B2 20210202; EP 3518787 A1 20190807; EP 3518787 A4 20201028; AU 2020200350 A1 20200206; AU 2020200350 B2 20201022; JP 2021087788 A 20210610; JP 7087124 B2 20220620; WO 2018119136 A1 20180628; US 2018168762 A1 20180621; US 10736705 B2 20200811; CN 108778177 B 20220726; AU 2017379816 A1 20190516; BR 112019010317 A2 20190903; AU 2017379816 B2 20200220; US 2018168763 A1 20180621; CN 108778177 A 20181109; KR 20190086499 A 20190722; KR 102282079 B1 20210728; AU 2017379917 A1 20190516; CA 3043788 A1 20180628; AU 2017379917 B2 20191114; CA 3043788 C 20210713; WO 2018118922 A1 20180628; CN 113349932 A 20210907; US 2022304758 A1 20220929; US 11701196 B2 20230718; US 2022031415 A1 20220203; US 11678948 B2 20230620; US 2023355341 A1 20231109; US 2018168753 A1 20180621; US 10980608 B2 20210420; CN 108472029 B 20210806 | 176 |
| 28 | Surgical robotic arm admittance control (10434660) |
Auris Health, Inc.(US, CA, Redwood City) | AU 2018347473 A1 20200423; AU 2018347473 B2 20230112; US 2023302658 A1 20230928; KR 20200071745 A 20200619; KR 102587262 B1 20231011; US 10434660 B2 20191008; US 2019105785 A1 20190411; WO 2019074670 A1 20190418; US 10016900 B1 20180710; EP 3676060 A1 20200708; EP 3676060 A4 20210616; JP 2020536755 A 20201217; US 2020039086 A1 20200206; JP 7301819 B2 20230703; US 11701783 B2 20230718; CN 111328306 A 20200623; CN 111328306 B 20211008 | 171 |
| 29 | Robotic surgical system with local sensing of functional parameters based on measurements of multiple physical inputs (11376082) |
CILAG GMBH INT(CH, Zug) | US 2020405405 A1 20201231; US 11376082 B2 20220705; EP 3989861 A1 20220504; CN 114072090 A 20220218; WO 2020260999 A1 20201230; US 2023320776 A1 20231012 | 171 |
| 30 | Method of using reinforced flexible circuits with multiple sensors to optimize performance of radio frequency devices (11389164) |
CILAG GMBH INT(CH, Zug) | US 2024032918 A1 20240201; US 2022395276 A1 20221215; US 11779337 B2 20231010; US 2019208641 A1 20190704; US 11389164 B2 20220719 | 164 |