JP2000505328A - 侵襲を最小に抑えた心臓手術を施術するための方法および装置 - Google Patents
侵襲を最小に抑えた心臓手術を施術するための方法および装置Info
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Abstract
Description
Claims (1)
- 【特許請求の範囲】 1.冠状動脈に開口部を有する患者の冠状動脈に補助血管を縫合針で縫合する ための、侵襲を最小に抑えた手順であって、 a)コントローラに連結された第1関節式アーム、および第2関節式アームと 、入力コマンドを受け取って、その入力コマンドに応じて前記第1および第2関 節式アームを移動させる入力装置を準備する段階と、 b)患者に少なくとも1つの切開部を設ける段階と、 c)前記第1および第2関節式アームを前記切開部から患者に挿入する段階と 、 d)補助血管を把持するように前記第1関節式アームを移動させるための入力 コマンドを発生する段階と、 e)縫合針を把持するように前記第2関節式アームを移動させる入力コマンド を発生する段階と、 f)針が冠状動脈および補助血管を貫通するように前記第2関節式アームを移 動させる入力コマンドを発生する段階と、 g)段階(g)を繰り返して補助血管を冠状動脈に縫合する段階と を含む手順。 2.補助血管が内胸動脈であり、さらに、内胸動脈を動脈開口部に近接した位 置へ移動させる前に、内胸動脈を切断する段階を含む請求項1に記載の方法。 3.さらに、針を移動させて補助血管を冠状動脈に縫合するように前記第1関 節式アームを移動させるための入力コマンドを発生する段階を含む請求項1に記 載の方法。 4.入力コマンドを発生する前記段階が、外科医が第1マスタ・ハンドルおよ び第2マスタ・ハンドルを、前記第1および第2関節式アームの移動が前記第1 マスタ・ハンドルおよび第2マスタ・ハンドルの移動に対応するようにして移動 させることを含む請求項1に記載の方法。 5.前記第1および第2関節式アームの各々が、前記第1および第2マスタ・ ハンドルの移動の換算増分だけ移動するエンド・エフェクタを備えている請求項 4に記載の方法。 6.さらに、前記第1および第2マスタ・ハンドルの移動に合わせて移動する ように前記第1および第2関節式アームを作動させる段階と、前記第1および第 2マスタ・ハンドルを外科医が移動させる時、前記第1および第2関節式アーム が静止しているように前記第1および第2関節式アームを不作動化する段階を含 む請求項4に記載の方法。 7.さらに、第3関節式アームに連結された内視鏡を準備する段階と、内視鏡 を切開部から患者に挿入する段階を含み、前記第3関節式アームは前記コントロ ーラと、入力コマンドを受け取る内視鏡入力装置に連結されている請求項1に記 載の方法。 8.さらに、前記第3関節式アームおよび内視鏡を患者の体内で移動させる入 力コマンドを発生する段階を含む請求項7に記載の方法。 9.さらに、前記エンド・エフェクタによって加えられる力に対応した力を外 科医に加える段階を含む請求項5に記載の方法。 10.外科医に加えられる力が、前記エンド・エフェクタによって加えられる 力の換算増分である請求項9に記載の方法。 11.さらに、外科医の手の震えに対応した入力コマンドを濾過する段階を含 む請求項4に記載の方法。 12.外科医が患者に手術を実施できるようにするシステムであって、 第1エンド・エフェクタを備えた第1関節式アームと、 第1入力コマンドを発生するために外科医が第1入力装置空間増分だけ移動さ せることができる第1入力装置と、 前記第1入力装置と前記第1関節式アームに連結され、前記第1入力装置から 前記第1入力コマンドを受け取って、前記第1エンド・エフェクタを第1エンド ・エフェクタ空間増分だけ移動させるために第1出力コマンドを前記第1関節式 アームへ送るコントローラと を含み、前記コントローラが、第1入力装置空間増分が第1エンド・エフェクタ 空間増分と異なるように、前記第1入力コマンドを換算するシステム。 13.さらに、第2エンド・エフェクタを備えた第2関節式アームと、第2入 力コマンドを発生するために外科医が第2入力装置空間増分だけ移動させること ができる第2入力装置を含み、前記コントローラが、前記第2入力装置から前記 第2入力コマンドを受け取って、前記第2エンド・エフェクタを第2エンド・エ フェクタ空間増分だけ移動させるために第2出力コマンドを前記第2関節式アー ムへ送り、前記コントローラが、第2入力装置空間増分が第2エンド・エフェク タ空間増分と異なるように、前記第2入力コマンドを換算する請求項12に記載 のシステム。 14.さらに、内視鏡を保持する第3関節式アームと、外科医から命令を受け 取って、その命令に応じて第3入力コマンドを発生する第3入力装置を含み、前 記コントローラが、前記第3n入力コマンドを受け取って、内視鏡を移動させる ために第3出力コマンドを前記第3関節式アームへ送る請求項13に記載のシス テム。 15.前記第1入力装置は、外科医が移動させるマスタ・ハンドルであり、前 記入力装置にはさらに、前記第1エンド・エフェクタが前記第1マスタ・ハンド ルの移動に合わせて移動するように前記第1関節式アームを作動させると共に、 前記マスタ・ハンドルを外科医が移動させる時、前記第1エンド・エフェクタが 静止しているように前記第1関節式アームを不作動化するように前記コントロー ラに連結された入力ボタンが設けられている請求項12に記載のシステム。 16.前記マスタ・ハンドルがマスタ回動点の回りに回動するようにした請求 項15に記載のシステム。 17.前記第1エンド・エフェクタが力センサを備えており、前記第1入力装 置が、前記力センサに連結されて前記力センサが感知した力に対応した力を外科 医に加えるアクチュエータを備えている請求項12に記載のシステム。 18.外科医に加えられる力が、前記力センサが感知した力の換算増分である 請求項17に記載のシステム。 19.前記入力装置が、第1入力位置信号を発生する第1位置センサと、第2 入力位置信号を発生する第2位置センサを備えており、前記コントローラが、前 記第1入力位置信号用の第1換算係数と、前記第2入力位置信号用の第2換算係 数を与える請求項12に記載のシステム。 20.前記第1関節式アームが、無菌連結器でロボット・アームに連結された 外科用器具を含む請求項12に記載のシステム。 21.前記ロボット・アームが無菌バッグで包囲されている請求項20に記載 のシステム。 22.前記第1関節式アームが、患者の切開部に位置する回動点回りに回転す るようにした請求項12に記載のシステム。 23.前記ロボット・アームが1対の受動状態ジョイントを備えている請求項 22に記載のシステム。 24.前記コントローラが、外科医の手の震えに対応した第1入力コマンドを 濾過するフィルタを備えている請求項12に記載のシステム。 25.患者の第1切開部から挿入して外科医が操作することができる医療用ロ ボット・システムであって、 切開部に挿入された第1エンド・エフェクタに連結された受動状態ジョイント を有しており、切開部が前記第1エンド・エフェクタの第1回動点を定めるよう にした第1関節式アームと、 外科医からの命令に応じて第1入力コマンドを発生する第1入力装置と、 前記第1入力装置と前記第1関節式アームに連結されたコントローラを含み、 前記コントローラが、前記第1入力装置から前記第1入力コマンドを受け取って 、前記第1エンド・エフェクタを前記第1回動点に対して移動させるために第1 出力コマンドを前記第1関節式アームへ送るようにしたシステム。 26.さらに、第2エンド・エフェクタを備えた第2関節式アームと、外科医 からの命令に応じて第2入力コマンドを発生する第2入力装置を含み、前記コン トローラが、前記第2入力装置から前記第2入力コマンドを受け取って、前記第 2エンド・エフェクタを患者の第2切開部に位置する第2回動点回りに移動させ るために第2出力コマンドを前記第2関節式アームへ送るようにした請求項25 に記載のシステム。 27.さらに、内視鏡を保持する第3関節式アームと、外科医から命令を受け 取って、その命令に応じて第3入力コマンドを発生する第3入力装置を含み、前 記コントローラは、前記第3入力コマンドを受け取って、内視鏡を患者の第3切 開部に位置する第3回動点回りに移動させるために第3出力コマンドを前記第3 関節式アームへ送るようにした請求項26に記載のシステム。 28.前記第1入力装置が、外科医が移動させるマスタ・ハンドルである請求 項27に記載のシステム。 29.前記第1入力装置が、外科医が移動させるマスタ・ハンドルであり、前 記入力装置にはさらに、前記第1エンド・エフェクタが前記第1マスタ・ハンド ルの移動に合わせて移動するように前記第1関節式アームを作動させると共に、 前記マスタ・ハンドルを外科医が移動させる時、前記第1エンド・エフェクタが 静止しているように前記第1関節式アームを不作動化するように前記コントロー ラに連結された入力ボタンが設けられている請求項25に記載のシステム。 30.前記第1エンド・エフェクタが、前記マスタ・ハンドルの移動の換算増 分だけ移動するようにした請求項28に記載のシステム。 31.前記第1エンド・エフェクタが力センサを備えており、前記第1入力装 置が、前記力センサに連結されて前記力センサが感知した力に対応した力を外科 医に加えるアクチュエータを備えている請求項25に記載のシステム。 32.外科医に加えられる力が、前記力センサが感知した力の換算増分である 請求項31に記載のシステム。 33.前記第1関節式アームが、無菌連結器でロボット・アームに連結された 外科用器具を含む請求項25に記載のシステム。 34.前記ロボット・アームが無菌バッグで包囲されている請求項33に記載 のシステム。 35.前記ロボット・アームが1対の受動状態ジョイントを備えている請求項 25に記載のシステム。 36.前記コントローラが、外科医の手の震えに対応した第1入力コマンドを 濾過するフィルタを備えている請求項25に記載のシステム。 37.外科医が患者に手術を実施できるようにするシステムであって、 第1エンド・エフェクタを備えた第1関節式アームと、 第1入力コマンドを発生するために外科医が第1入力装置空間増分だけ移動さ せることができる第1入力装置と、 前記第1入力装置と前記第1関節式アームに連結されたコントローラを含み、 前記コントローラが、前記第1入力装置から前記第1入力コマンドを受け取って 、前記第1エンド・エフェクタを移動させるために第1出力コマンドを前記第1 関節式アームへ送り、さらに、 前記第1エンド・エフェクタが前記第1入力装置に合わせて移動するように前 記第1関節式アームを作動させると共に、外科医が前記第1入力装置を移動させ る間、前記第1エンド・エフェクタが静止しているように前記第1関節式アーム を不作動化する第2入力装置を含むシステム。 38.さらに、第2エンド・エフェクタを備えた第2関節式アームと、第2入 力コマンドを発生するために外科医が第2入力装置空間増分だけ移動させること ができる第2人力装置を含み、前記第2人力装置が、外科医が押圧することがで きる第2入力ボタンを供えており、前記コントローラが、前記第2入力ボタンが 押された時、前記第2入力装置から前記第2入力コマンドを受け取って、前記第 2エンド・エフェクタを移動させるために第2出力コマンドを前記第2関節式ア ームへ送るようにした請求項37に記載のシステム。 39.さらに、内視鏡を保持する第3関節式アームと、外科医から命令を受け 取って、その命令に応じて第3入力コマンドを発生する第3入力装置を含み、前 記コントローラは、前記第3入力コマンドを受け取って、内視鏡を移動させるた めに第3出力コマンドを前記第3関節式アームへ送るようにした請求項38に記 載のシステム。 40.前記第1入力装置が、マスタ回動点回りに回動するマスタ・ハンドルを 含む請求項37に記載のシステム。 41.前記第1入力装置が、外科医が移動させるマスタ・ハンドルであり、前 記入力装置にはさらに、前記第1エンド・エフェクタが前記第1マスタ・ハンド ルの移動に合わせて移動するように前記第1関節式アームを作動させ、前記マス タ・ハンドルを外科医が移動させる時、前記第1エンド・エフェクタが静止して いるように前記第1関節式アームを不作動化するように前記コントローラに連結 された入力ボタンが設けられている請求項40に記載のシステム。 42.前記第1エンド・エフェクタが力センサを備えており、前記第1入力装 置が、前記力センサに連結されて前記力センサが感知した力に対応した力を外科 医に加えるアクチュエータを備えている請求項37に記載のシステム。 43.外科医に加えられる力が、前記力センサが感知した力の換算増分である 請求項42に記載のシステム。 44.前記第1エンド・エフェクタが、前記マスタ・ハンドルの移動の換算増 分だけ移動するようにした請求項40に記載のシステム。 45.前記第1関節式アームが、無菌連結器でロボット・アームに連結された 外科用器具を含む請求項37に記載のシステム。 46.前記ロボット・アームが無菌バッグで包囲されている請求項45に記載 のシステム。 47.前記第1関節式アームが、患者の切開部に位置する回動点回りに回転す るようにした請求項37に記載のシステム。 48.前記ロボット・アームが1対の受動状態ジョイントを備えている請求項 47に記載のシステム。 49.前記コントローラが、外科医の手の震えに対応した第1入力コマンドを 濾過するフィルタを備えている請求項37に記載のシステム。 50.ロボット・アームと、 前記ロボット・アームを包囲する無菌バッグと、 前記ロボット・アームに差し込まれた無菌連結器と、 前記無菌連結器に差し込まれた外科用器具を含む医療用ロボット・システム。 51.前記外科用器具が、1対のフィンガを備えたエンド・エフェクタである 請求項50に記載のシステム。 52.前記無菌連結器が、前記エンド・エフェクタのフィンガを前記ロボット ・アーム内のアクチュエータに連結するピストンを含む請求項51に記載のシス テム。 53.ロボット・アームと、 前記アームに回動可能に取り付けられた連結器と、 前記連結器によって保持された内視鏡外科用器具と、 ハンドルを備えて、前記ロボット・アームに電気接続されているコントローラ を含み、 前記コントローラでの移動が前記ロボット・アームおよび外科用器具の比例移 動を生じるようにした医療用ロボット・システム。 54.前記連結器が前記ロボット・アームに着脱可能に取り付けられている請 求項53に記載のシステム。 55.前記内視鏡外科用器具が、関節式内視鏡外科用器具である請求項53に 記載のシステム。 56.関節式外科用器具が、基部と、ピボット・リンク機構と、先端部を含む 請求項53に記載のシステム。 57.コントローラにおける移動によって、関節式外科用器具の先端部が関節 式外科用器具の基部に対して対応移動するようにした請求項56に記載のシステ ム。 58.連結器に孔が貫設されている請求項53に記載のシステム。 59.患者に外科手術を実施するための外科用ロボット・システムを作動させ る方法であって、 1)第1関節式アームと、コントローラと、入力コマンドを受け取る入力装置 を準備し、第1関節式アームをコントローラと電気接続し、コントローラを入力 装置と電気接続する段階と、 2)患者に少なくとも1つの切開部を設ける段階と、 3)外科用器具を第1関節式アームに取り付ける段階と、 4)前記外科用器具を少なくとも1つの切開部から患者に挿入する段階と、 5)実施中の手術に従って前記外科用器具を移動させるための入力コマンドを 発生し、入力コマンドに従って前記ロボット・アームが前記外科用器具を移動さ せるようにする段階と、 6)外科用器具を患者から取り除く段階を含む方法。 60.外科用器具を患者から取り除く段階の後にさらに、 1)外科用器具を別の外科用器具と交換する段階と、 2)前記別の外科用器具を患者に挿入する段階と、 3)実施中の手術に従って前記別の外科用器具を移動させるための入力コマン ドを発生し、入力コマンドに従って前記ロボット・アームが前記別の外科用器具 を移動させるようにする段階と、 4)前記別の外科用器具を患者から取り除く段階を含む方法。 61.前記外科用器具が鉗子である請求項59に記載の方法。 62.前記外科用器具がステープラである請求項59に記載の方法。 63.前記外科用器具が焼灼装置である請求項59に記載の方法。 64.前記外科用器具が切刃である請求項59に記載の方法。 65.関節式外科用器具の先端に取り付けられている工具がステープラである 請求項57に記載の方法。 66.関節式外科用器具の先端に取り付けられている工具が焼灼装置である請 求項57に記載の方法。 67.外科用器具をカラーに取り付ける段階は器具の先端をカラーに通すこと による請求項59に記載の方法。
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US08/603,543 US5762458A (en) | 1996-02-20 | 1996-02-20 | Method and apparatus for performing minimally invasive cardiac procedures |
US08/603,543 | 1996-02-20 | ||
US08/755,063 | 1996-10-22 | ||
US08/755,063 US5855583A (en) | 1996-02-20 | 1996-11-22 | Method and apparatus for performing minimally invasive cardiac procedures |
PCT/US1997/002628 WO1997029690A1 (en) | 1996-02-20 | 1997-02-19 | A method and apparatus for performing minimally invasive cardiac procedures |
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2008
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Also Published As
Publication number | Publication date |
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DE69735708D1 (de) | 2006-05-24 |
CA2547686C (en) | 2011-11-15 |
DE69735708T2 (de) | 2006-09-28 |
EP0883376A1 (en) | 1998-12-16 |
US6905460B2 (en) | 2005-06-14 |
US20030083648A1 (en) | 2003-05-01 |
CN1216454A (zh) | 1999-05-12 |
US20040186345A1 (en) | 2004-09-23 |
EP0883376B1 (en) | 2006-04-19 |
US7083571B2 (en) | 2006-08-01 |
US20050228365A1 (en) | 2005-10-13 |
US6007550A (en) | 1999-12-28 |
CA2547686A1 (en) | 1997-08-21 |
WO1997029690A1 (en) | 1997-08-21 |
US20030100817A1 (en) | 2003-05-29 |
IL125822A0 (en) | 1999-04-11 |
US20080228196A1 (en) | 2008-09-18 |
US20080215065A1 (en) | 2008-09-04 |
CA2246713C (en) | 2006-08-15 |
CA2246713A1 (en) | 1997-08-21 |
US7695481B2 (en) | 2010-04-13 |
EP0883376A4 (en) | 2000-08-23 |
KR19990087101A (ko) | 1999-12-15 |
US5855583A (en) | 1999-01-05 |
AU2131897A (en) | 1997-09-02 |
ES2264158T3 (es) | 2006-12-16 |
IL125822A (en) | 2003-07-06 |
US6102850A (en) | 2000-08-15 |
ATE323446T1 (de) | 2006-05-15 |
RU2233626C2 (ru) | 2004-08-10 |
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