JP6623167B2 - ディスクの係合を確認するためのシステム及び方法 - Google Patents
ディスクの係合を確認するためのシステム及び方法 Download PDFInfo
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- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/0046—Surgical instruments, devices or methods, e.g. tourniquets with a releasable handle; with handle and operating part separable
- A61B2017/00464—Surgical instruments, devices or methods, e.g. tourniquets with a releasable handle; with handle and operating part separable for use with different instruments
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- A61B90/06—Measuring instruments not otherwise provided for
- A61B2090/064—Measuring instruments not otherwise provided for for measuring force, pressure or mechanical tension
- A61B2090/066—Measuring instruments not otherwise provided for for measuring force, pressure or mechanical tension for measuring torque
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- A—HUMAN NECESSITIES
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- 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
- A61B90/08—Accessories or related features not otherwise provided for
- A61B2090/0807—Indication means
- A61B2090/0811—Indication means for the position of a particular part of an instrument with respect to the rest of the instrument, e.g. position of the anvil of a stapling instrument
- A61B2090/0812—Indication means for the position of a particular part of an instrument with respect to the rest of the instrument, e.g. position of the anvil of a stapling instrument indicating loosening or shifting of parts of an instrument, signaling maladjustment of parts
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Description
この特許出願は、2014年3月17日に出願された”Systems and Methods for Confirming Disc Engagement”という標題の米国仮特許出願第61/954,408号、2015年1月15日に出願された”Coupler to Transfer Motion to Surgical Instrument From Teleoperated Actuator”という標題の米国仮特許出願第62/103,991号、及び2014年3月17日に出願された”Coupler to Transfer Motion to Surgical Instrument From Servo Actuator”という標題の米国仮特許出願第61/954,571号をについて優先権及びこれら出願の出願日の利益を主張するものであり、これら文献は、その全体が参照により本明細書に組み込まれる。
一実施形態では、この方法は、駆動入力部に隣接する入力係合部を受け取るステップを含み、駆動入力部は、作動要素によって駆動され、入力係合部は、関節出力部に結合され、関節出力部は、移動体に接続される。この方法は、作動要素による抵抗トルクを受けるまで、作動要素を回転させるステップと、抵抗トルクに基づいて、駆動入力部が入力係合部と係合したか否かを判定するステップとをさらに含む。
・変速機108の変速比(GR)(アクチュエータ106の位置の変化で除算した駆動ディスク110の位置の変化);
・器具ディスク102と関節出力部104との間の変速比(DR)(器具ディスク102の位置の変化で除算した関節出力部104の位置の変化);
・関節出力部104の位置がノミナル位置にあり、操作可能な対象物114が中立位置にあるときの、器具ディスク102の位置であるディスクオフセット(Doff):例えば、関節出力部104によって、操作可能な対象物114のピッチを操作している場合に、中立位置は、図2Aに示した水平位置である;
・結合位置を繰り返す間の期間(Pdrive-coup):例えば、一回転当たり一度だけ(例えば、駆動ディスクと)係合する回転式結合部(例えば、器具ディスク)は、2πラジアンのPdrive-coupを有する:回転式結合部は、入力された回転当たり2回係合する場合に、Pdrive-coup=πラジアンである;
・位置を含む上側の物理的制約部116(qout_ul)と下側の物理的制約部118(qout_ll)とによって拘束される関節出力部の位置(qout);を含む。
・駆動ディスク110の位置:dsens=GR×msens、ここで、msensは、アクチュエータ106の感知された位置である;
・駆動ディスク110と関節出力部qoutにおける操作可能な対象物114との間の正確なマッピングを形成するために駆動ディスク110の位置に適用されるオフセット:dcoup_offset=Doff+n×Pdrive−coup、ここで、nは、正又は負の整数である;
・器具ディスク102の位置:dcoup=dsens+dcoup_offset;
・関節出力部104の位置:qout=DR×dcoup;を含む。
・j番目の変速機の変速比(GRj)(アクチュエータ位置の変化で除算した駆動ディスク位置の変化);
・j番目の器具ディスクとi番目の関節出力部と間の変速比(DRij)(器具ディスク位置の変化で除算した関節出力位置の変化);
・全ての関節出力部が複数の自由度内の中立位置にあるときの、j番目器具ディスクの位置であるディスクオフセット(Doffj);
・j番目のインターフェイスの結合位置を繰り返す間の期間(Pdrive-coupj);
・位置を含む上側の物理的制約部176(qout_ulj)及び下側の物理的制約部178(qout_llj)によって制約されるi番目の関節出力部の位置(qouti);を含む。
・j番目の駆動ディスクの位置:dsensj=GRj×msensj、ここで、msensjは、j番目のアクチュエータの感知された位置である;
・j番目の駆動ディスクと関節出力部qoutとの間の正確なマッピングを形成するために、j番目の駆動ディスクの位置に適用されるオフセット:dcoup_offsetj=Doffj+kj×Pdrive−coupj、ここで、kj=正又は負の整数である;
・j番目の器具ディスクの位置:dcoupj=dsensj+dcoup_offsetj;
・i番目の関節出力部の位置:[qout](i番目の関節出力部のm×1行列)=CDR×[dcoupj](j番目の器具ディスクのn×1行列);を含む。
Claims (16)
- 方法であって、当該方法は、
駆動入力部に隣接する入力係合部を受け取るステップであって、前記駆動入力部は、作動要素によって駆動され、前記入力係合部は、関節出力部に結合され、該関節出力部は、移動体に接続される、受け取るステップと、
前記作動要素が抵抗トルクを受けるまで、前記作動要素を回転させるステップと、
前記抵抗トルクに基づいて、前記駆動入力部が前記入力係合部と係合したか否かを判定するステップと、
前記駆動入力部が前記入力係合部と係合する際の前記作動要素の角度位置を決定するステップと、を含む、
方法。 - 前記駆動入力部が前記入力係合部と係合したか否かを判定するステップは、前記抵抗トルクがトルク閾値を超えているか否かを判定するステップを含む、請求項1に記載の方法。
- 前記駆動入力部が前記入力係合部と係合したか否かを判定するステップは、ボスがポケット内に配置されていることを判定するステップを含む、請求項1又は2に記載の方法。
- 前記抵抗トルクを受けるまで、前記作動要素を回転させるステップは、前記移動体が物理的な制限部に遭遇したときに前記抵抗トルクを受けるステップを含む、請求項1乃至3のいずれか一項に記載の方法。
- 前記駆動入力部が前記入力係合部と係合したか否かを判定するステップは、前記移動体がロール運動で移動したか否かを判定するステップ、又は前記移動体がヨー運動で移動したか否かを判定するステップ、又は前記移動体がピッチ運動で移動したか否かを判定するステップを含む、請求項1乃至4のいずれか一項に記載の方法。
- 前記駆動入力部が前記入力係合部と係合したか否かを判定するステップは、前記移動体の2つの関節接合した部品が移動して閉じた構成になったか否かを判定するステップを含む、請求項1乃至4のいずれか一項に記載の方法。
- システムであって、当該システムは、
医療器具を支持するように構成された器具キャリッジであって、前記医療器具は、作動可能な器具チップ及び該作動可能な器具チップを移動させるように構成された入力係合部を含み、前記器具キャリッジは、前記入力係合部と係合するように構成された駆動結合部、及び該駆動結合部を回転させるように結合されたモータを含む、器具キャリッジと、
制御システムと、を有しており、
該制御システムは、
命令された運動軌道を完了する又は前記モータが抵抗トルクを受けるまで、前記モータを回転させ、
前記抵抗トルクの大きさに基づいて、前記駆動結合部が前記入力係合部と係合したか否かを判定し、且つ
前記駆動結合部が前記入力係合部と係合する際の前記モータの角度位置を決定する、ように構成される、
システム。 - 前記駆動結合部が前記入力係合部と係合したか否かを判定することは、前記抵抗トルクの大きさがトルク閾値を超えているか否かを判定することを含む、請求項7に記載のシステム。
- 前記駆動結合部が前記入力係合部と係合したか否かを判定することは、ボスがポケット内に配置されていることを判定することを含む、請求項7又は8に記載のシステム。
- 前記抵抗トルクを受けるまで、前記モータを回転させることは、前記作動可能な器具チップが物理的な制限部に遭遇したときに前記抵抗トルクを受けることを含む、請求項7乃至9のいずれか一項に記載のシステム。
- 前記物理的な制限部は、前記入力係合部が遭遇する回転停止体である、請求項10に記載のシステム。
- 前記駆動結合部が前記入力係合部と係合したか否かを判定することは、前記作動可能な器具チップがロール運動で移動したか否かを判定することを含む、請求項7乃至11のいずれか一項に記載のシステム。
- 前記駆動結合部が前記入力係合部と係合したか否かを判定することは、前記作動可能な器具チップがヨー運動で移動したか否かを判定すること、又は前記作動可能な器具チップがピッチ運動で移動したか否かを判定することを含む、請求項7乃至12のいずれか一項に記載のシステム。
- 前記駆動結合部が前記入力係合部と係合したか否かを判定することは、前記作動可能な器具チップの2つの関節接合した部品が移動して閉じた構成になったか否かを判定することを含む、請求項7乃至13のいずれか一項に記載のシステム。
- 前記駆動結合部は、アダプタの回転可能なディスクを含む、請求項7乃至14のいずれか一項に記載のシステム。
- 器具の係合を確認するための方法であって、当該方法は、
複数の駆動ディスクに隣接する複数の器具ディスクを受け取るステップであって、前記複数の器具ディスクのうちの少なくとも2つは、器具チップをある自由度に沿って移動させるように協働する、受け取るステップと、
前記複数の駆動ディスクに接続された作動要素を用いて、前記複数の駆動ディスクの動作が停止するまで、前記複数の駆動ディスクを駆動するステップと、
前記複数の駆動ディスクのそれぞれが受けるトルク抵抗を決定するステップと、
前記トルク抵抗に基づいて、前記複数の駆動ディスクの係合が成功したか否かを判定するステップと、
前記作動要素の位置を前記器具チップの位置にマッピングするステップと、を含む、
方法。
Applications Claiming Priority (7)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US201461954571P | 2014-03-17 | 2014-03-17 | |
US201461954408P | 2014-03-17 | 2014-03-17 | |
US61/954,408 | 2014-03-17 | ||
US61/954,571 | 2014-03-17 | ||
US201562103991P | 2015-01-15 | 2015-01-15 | |
US62/103,991 | 2015-01-15 | ||
PCT/US2015/021111 WO2015142958A1 (en) | 2014-03-17 | 2015-03-17 | Systems and methods for confirming disc engagement |
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JP2019185819A Division JP6858234B2 (ja) | 2014-03-17 | 2019-10-09 | ディスクの係合を確認するためのシステム及び方法 |
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JP2017512548A JP2017512548A (ja) | 2017-05-25 |
JP2017512548A5 JP2017512548A5 (ja) | 2018-04-26 |
JP6623167B2 true JP6623167B2 (ja) | 2019-12-18 |
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JP2019185819A Active JP6858234B2 (ja) | 2014-03-17 | 2019-10-09 | ディスクの係合を確認するためのシステム及び方法 |
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EP (3) | EP4331526A2 (ja) |
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CN108472029B (zh) | 2016-12-20 | 2021-08-06 | 威博外科公司 | 用于机器人外科系统的无菌适配器控制系统和通信接口 |
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US20200155130A1 (en) | 2020-05-21 |
EP3119322B1 (en) | 2020-05-06 |
KR20170005797A (ko) | 2017-01-16 |
KR102437468B1 (ko) | 2022-08-30 |
CN106102641B (zh) | 2019-11-22 |
KR102324953B1 (ko) | 2021-11-12 |
US20170172549A1 (en) | 2017-06-22 |
JP6858234B2 (ja) | 2021-04-14 |
CN106102641A (zh) | 2016-11-09 |
JP2020006236A (ja) | 2020-01-16 |
EP3119322A4 (en) | 2017-12-27 |
CN110882058B (zh) | 2023-06-20 |
KR20210137230A (ko) | 2021-11-17 |
US10595836B2 (en) | 2020-03-24 |
EP4331526A2 (en) | 2024-03-06 |
EP3679885B1 (en) | 2024-02-28 |
CN110882058A (zh) | 2020-03-17 |
EP3679885A1 (en) | 2020-07-15 |
EP3119322A1 (en) | 2017-01-25 |
WO2015142958A1 (en) | 2015-09-24 |
JP2017512548A (ja) | 2017-05-25 |
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