HRP20210146T1 - Kontrola uređaja s mehaničkim udovima - Google Patents
Kontrola uređaja s mehaničkim udovima Download PDFInfo
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- HRP20210146T1 HRP20210146T1 HRP20210146TT HRP20210146T HRP20210146T1 HR P20210146 T1 HRP20210146 T1 HR P20210146T1 HR P20210146T T HRP20210146T T HR P20210146TT HR P20210146 T HRP20210146 T HR P20210146T HR P20210146 T1 HRP20210146 T1 HR P20210146T1
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- segment
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- limb
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- 238000006073 displacement reaction Methods 0.000 claims 1
- 238000013507 mapping Methods 0.000 claims 1
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- A61B1/04—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor combined with photographic or television appliances
- A61B1/05—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor combined with photographic or television appliances characterised by the image sensor, e.g. camera, being in the distal end portion
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Claims (15)
1. Kirurški sustav, naznačen time što sadrži:
kirurški uređaj (4400), takve veličine i oblika da ga se može umetnuti u ljudsko tijelo, koji sadrži:
najmanje jedan uzglobljeni ud kirurškog uređaja (104, 106, 4404, 4406, 4804), gdje navedeni ud sadrži:
nosivi dio (102, 103, 202, 4802, 3102);
zasebno savitljivi prvi fleksibilni dio (108, 110, 208, 3108), spregnut s navedenim nosivim dijelom;
drugi fleksibilni dio (120, 122, 220, 3120), zasebno savitljiv u odnosu na navedeni prvi fleksibilni dio i spregnut s navedenim prvim fleksibilnim dijelom;
svaki od navedenog prvog i drugog fleksibilnog dijela omeđuje dugi zglob navedenog uzglobljenog uda;
gdje navedeni kirurški uređaj sadrži jedan ili više motora (4214), konfiguriranih za savijanje navedenog prvog i navedenog drugog fleksibilnog dijela;
gdje navedeni kirurški sustav dodatno sadrži:
ulazni uređaj (4200ip), gdje je prilikom upotrebe navedeni kirurški uređaj konfiguriran za stavljanje na prvu lokaciju, a navedeni ulazni uređaj je konfiguriran za stavljanje na drugu različitu lokaciju;
gdje navedeni ulazni uređaj sadrži najmanje jedan uzglobljeni ud ulaznog uređaja (4404ip, 4406ip, 4804ip), gdje navedeni ud ulaznog uređaja sadrži:
nosivi segment (4802ip, 4902ip, 4902aip), koji je spojen na i pruža se od platforme ulaznog uređaja (4960);
prvi segment (4416ip, 4812ip, 4918ip, 4916ip), spregnut s navedenim nosivim segmentom prvim zglobom (4910ip, 4908);
drugi segment (4424ip, 4816ip, 4924ip, 4926), spregnut s navedenim prvim segmentom drugim zglobom (4820ip, 4920ip, 4922ip); i
najmanje jedan senzor (4210), konfiguriran za mjerenje prvog kuta ulaznog uređaja (α) između navedenog prvog segmenta i navedenog nosivog segmenta, te za mjerenje drugog kuta ulaznog uređaja (β) između navedenog prvog segmenta i navedenog drugog segmenta; i
procesor (4216), konfiguriran za:
primanje signala od navedenog najmanje jednog senzora; i stvaranje i slanje upravljačkog signala u najmanje jedan motor radi davanja naredbi navedenom jednom ili više motora:
gdje svaki od navedenog prvog i drugog fleksibilnog dijela koji omeđuju navedene duge zglobove navedenog uzglobljenog uda kirurškog uređaja sadrži više veza koje sadrže zračne razmake (2799, 2899) između uzastopnih veza; gdje se svaki fleksibilni dio može saviti samo u jednoj ravnini savijanja;
gdje svaki od navedenog prvog i drugog zgloba uzglobljenog uda navedenog ulaznog uređaja sadrži zakretni zglob;
gdje navedeni procesor kartira navedeni prvi zakretni zglob uzglobljenog uda navedenog ulaznog uređaja s navedenim prvim fleksibilnim odjeljkom navedenog uzglobljenog uda kirurškog uređaja i navedeni drugi zakretni zglob uzglobljenog uda navedenog ulaznog uređaja s navedenim drugim fleksibilnim odjeljkom navedenog uzglobljenog uda kirurškog uređaja; gdje navedeno kartiranje se sastoji u stvaranje signala koji daje naredbu navedenoj motornoj jedinici za:
savijanje navedenog prvog fleksibilnog dijela do prvog kuta kirurškog uređaja (α’), gdje je navedeni graduiran prema ili je sličan navedenom izmjerenom prvom kutu ulaznog uređaja na navedenom prvom zakretnom zglobu; i
savijanje navedenog drugog fleksibilnog dijela do drugog kuta kirurškog uređaja (β’), gdje je navedeni graduiran prema ili je sličan navedenom izmjerenom drugom kutu ulaznog uređaja na navedenom drugom zakretnom zglobu;
gdje su navedeni prvi i drugi kut kirurškog uređaja omeđeni između tangenti na dugu os navedenih fleksibilnih dijelova na krajevima fleksibilnih dijelova; i
gdje se svaki od navedenog nosivog segmenta, navedenog prvog segmenta i navedenog drugog segmenta uzglobljenog uda navedenog ulaznog uređaja može zakretati oko duge osi segmenta,
gdje je svaki od navedenih fleksibilnih dijelova uzglobljenog uda kirurškog uređaja spregnut uzastopno neovisno savitljivo i zakretljivo i svaki od navedenih segmenata uda ulaznog uređaja je spregnut uzastopno neovisno savitljivo i zakretljivo,
gdje se pomicanjem prvog fleksibilnog dijela i drugog fleksibilnog dijela može neovisno upravljati,
gdje se svaki od fleksibilnih dijelova može neovisno zakretati oko duge osi odgovarajućeg fleksibilnog dijela, gdje
svaki fleksibilni dio je neovisno fleksibilan i savitljiv, gdje se fleksijom i zakretanjem oko duge osi fleksibilnog dijela svakog fleksibilnog dijela može istodobno upravljati.
2. Sustav u skladu s patentnim zahtjevom 1,
naznačen time što je navedeni najmanje jedan senzor konfiguriran za:
mjerenje zakretanja navedenog prvog segmenta oko duge osi prvog segmenta; i
mjerenje zakretanja navedenog drugog segmenta oko duge osi drugog segmenta;
gdje je navedeni jedan ili više motora konfiguriran za zakretanje navedenog prvog fleksibilnog dijela oko duge osi prvog fleksibilnog dijela i za zakretanje navedenog drugog fleksibilnog dijela oko duge osi drugog fleksibilnog dijela;
gdje navedeni upravljački signal daje naredbu navedenom jednom ili više motora:
za zakretanje navedenog prvog fleksibilnog dijela na osnovi navedenog izmjerenog zakretanja navedenog prvog segmenta; i
za zakretanje navedenog drugog fleksibilnog dijela na osnovi navedenog izmjerenog zakretanja navedenog drugog segmenta.
3. Sustav u skladu s bilo kojim od patentnih zahtjeva 1-2, naznačen time što je navedeni najmanje jedan senzor senzor pomaka spojen na navedeni uzglobljeni ud ulaznog uređaja.
4. Sustav u skladu s patentnim zahtjevom 1, naznačen time što navedeni najmanje jedan senzor sadrži:
prvi senzor, konfiguriran za mjerenje navedenog prvog kuta ulaznog uređaja; i
drugi senzor, konfiguriran za mjerenje navedenog drugog kuta ulaznog uređaja.
5. Sustav u skladu s patentnim zahtjevom 4, naznačen time što je navedeni prvi senzor konfiguriran za mjerenje zakretanja navedenog prvog segmenta oko duge osi prvog segmenta; te
što je navedeni drugi senzor konfiguriran za mjerenje zakretanja navedenog drugog segmenta oko duge osi drugog segmenta.
6. Sustav u skladu s patentnim zahtjevom 4, naznačen time što navedeni najmanje jedan senzor sadrži:
treći senzor, konfiguriran za mjerenje zakretanja navedenog prvog segmenta oko duge osi prvog segmenta; i
četvrti senzor, konfiguriran za mjerenje zakretanja navedenog drugog segmenta oko duge osi drugog segmenta.
7. Sustav u skladu s bilo kojim od patentnih zahtjeva 1-6, naznačen time što:
navedeni prvi fleksibilni dio se može saviti u prvoj jednoj ravnini savijanja; i
navedeni drugi fleksibilni dio se može saviti u drugoj jednoj ravnini savijanja.
8. Sustav u skladu s bilo kojim od patentnih zahtjeva 1-7, naznačen time što se navedeni prvi segment može saviti u odnosu na navedeni nosivi segment u jednoj ravnini savijanja prvog zgloba oko navedenog prvog zgloba;
gdje se navedeni drugi segment može saviti u odnosu na navedeni prvi segment u jednoj ravnini savijanja drugog zgloba oko navedenog drugog zgloba.
9. Sustav u skladu s bilo kojim od patentnih zahtjeva 1-8, naznačen time što navedeni kirurški uređaj sadrži alat (4424), spregnut s navedenim drugim fleksibilnim dijelom;
gdje jedno ili više korisničkih sučelja na navedenom ulaznom uređaju (4462) upravlja aktuiranjem navedenog alata.
10. Sustav u skladu s bilo kojim od patentnih zahtjeva 1-9, naznačen time što sadrži prvi (4404ip) i drugi (4406ip) ud ulaznog uređaja i prvi i drugi ud kirurškog uređaja, gdje navedeni prvi ud ulaznog uređaja kontrolira navedeni prvi ud kirurškog uređaja (4404), u skladu s patentnim zahtjevom 1, te gdje navedeni drugi ud ulaznog uređaja kontrolira navedeni drugi ud kirurškog uređaja (4406), u skladu s patentnim zahtjevom 1.
11. Sustav u skladu s bilo kojim od patentnih zahtjeva 1-10, naznačen time što je omjer između debljine navedenog uzglobljenog uda kirurškog uređaja i debljine uzglobljenog uda navedenog ulaznog uređaja u rasponu od 1:0,5 do 1:3.
12. Sustav u skladu s bilo kojim od patentnih zahtjeva 1-11, naznačen time što je duljina svakog od navedenih fleksibilnih dijelova po dugoj osi fleksibilnog dijela najmanje 4 puta veća od najvećeg dosega navedenog fleksibilnog dijela okomitog u odnosu na navedenu dugu os.
13. Sustav u skladu s bilo kojim od patentnih zahtjeva 1-12, naznačen time što navedeni prvi zakretni zglob uzglobljenog uda navedenog ulaznog uređaja i navedeni prvi fleksibilni odjeljak navedenog uzglobljenog uda kirurškog uređaja se može saviti za isti kut; gdje se navedeni drugi zakretni zglob uzglobljenog uda navedenog ulaznog uređaja i navedeni drugi fleksibilni odjeljak navedenog uzglobljenog uda kirurškog uređaja može saviti za isti kut.
14. Sustav u skladu s bilo kojim od patentnih zahtjeva 1-13, naznačen time što dijelovi navedenog uzglobljenog uda kirurškog uređaja odgovaraju segmentima uzglobljenog uda navedenog ulaznog uređaja i imaju iste stupnjeve slobode.
15. Sustav u skladu s bilo kojim od patentnih zahtjeva 1-14, naznačen time što svaki od navedenog prvog i drugog zgloba navedenog ulaznog uređaja sadrži dva držača, uključujući vanjski držač, koji se može zakretati oko unutarnjeg držača.
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- 2021-07-15 JP JP2021117181A patent/JP7352599B2/ja active Active
- 2021-09-08 US US17/468,745 patent/US20220054205A1/en active Pending
-
2022
- 2022-07-19 IL IL294858A patent/IL294858B2/en unknown
- 2022-10-31 US US17/976,954 patent/US20230052027A1/en not_active Abandoned
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