JP2002504863A - 向上した巧緻性および感度で最低侵襲性外科手術を行うための連結外科手術器具 - Google Patents
向上した巧緻性および感度で最低侵襲性外科手術を行うための連結外科手術器具Info
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- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/28—Surgical forceps
- A61B17/29—Forceps for use in minimally invasive surgery
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B34/35—Surgical robots for telesurgery
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B34/37—Master-slave robots
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
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- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
- A61B34/71—Manipulators operated by drive cable mechanisms
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
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- A61B34/76—Manipulators having means for providing feel, e.g. force or tactile feedback
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
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- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
- A61B34/77—Manipulators with motion or force scaling
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J3/00—Manipulators of master-slave type, i.e. both controlling unit and controlled unit perform corresponding spatial movements
- B25J3/04—Manipulators of master-slave type, i.e. both controlling unit and controlled unit perform corresponding spatial movements involving servo mechanisms
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
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- A—HUMAN NECESSITIES
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- A61B2017/2926—Details of heads or jaws
- A61B2017/2927—Details of heads or jaws the angular position of the head being adjustable with respect to the shaft
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- A61B2017/2927—Details of heads or jaws the angular position of the head being adjustable with respect to the shaft
- A61B2017/2929—Details of heads or jaws the angular position of the head being adjustable with respect to the shaft with a head rotatable about the longitudinal axis of the shaft
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- A61B2017/2926—Details of heads or jaws
- A61B2017/2932—Transmission of forces to jaw members
- A61B2017/2939—Details of linkages or pivot points
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- A—HUMAN NECESSITIES
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- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
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- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B2034/305—Details of wrist mechanisms at distal ends of robotic arms
- A61B2034/306—Wrists with multiple vertebrae
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- A—HUMAN NECESSITIES
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- A61B34/70—Manipulators specially adapted for use in surgery
- A61B34/71—Manipulators operated by drive cable mechanisms
- A61B2034/715—Cable tensioning mechanisms for removing slack
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T74/00—Machine element or mechanism
- Y10T74/20—Control lever and linkage systems
- Y10T74/20207—Multiple controlling elements for single controlled element
- Y10T74/20305—Robotic arm
- Y10T74/20329—Joint between elements
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T74/00—Machine element or mechanism
- Y10T74/20—Control lever and linkage systems
- Y10T74/20207—Multiple controlling elements for single controlled element
- Y10T74/20305—Robotic arm
- Y10T74/20329—Joint between elements
- Y10T74/20335—Wrist
Abstract
Description
Claims (1)
- 【特許請求の範囲】 1.支持ブラケットと、細長い支持部材と、リスト機構と、外科手術用エンドエ フェクタと、4つのアクチュエータと、4本のケーブルとを備えた、最低侵襲性 外科手術のための連結外科手術用器具であって、 該4つのアクチュエータは該支持ブラケット上に取り付けられ、 該細長い支持部材は、近位端および遠位端と、該細長い支持部材に沿って該近 位端から該遠位端まで長さ方向に延びる支持軸とを有し、 該支持部材の該近位端は、該支持軸まわりに回転するために回転ジョイントに よって、および該支持軸に沿って往復移動するために線形ジョイントによって、 該支持ブラケットに連結され、 該支持部材の該遠位端は該リスト機構に接続され、 該リスト機構は該外科手術用エンドエフェクタを支持し、 該外科手術用エンドエフェクタは第1の作業部材を備え、そして 該4つのアクチュエータは、該4本のケーブルによって該リスト機構、該回転 ジョイントおよび該線形ジョイントに連結され、該アクチュエータの選択的な活 性化により該外科手術用エンドエフェクタの該第1の作業部材が、該支持部材に 対して自由度2で2つの直交軸のまわりを移動し、該支持部材が該支持ブラケッ トに対して該支持軸に沿って伸張および退却し、そして該支持部材が該支持ブラ ケットに対して該支持軸のまわりを回転し、これにより該外科手術用エンドエフ ェクタの該第1の作業部材が自由度4で該支持ブラケットに対して移動する、連 結外科手術用器具。 2.前記支持ブラケット上に取り付けられ、5本のケーブルによって前記リスト 機構、前記回転ジョイント、前記線形ジョイントおよび前記エンドエフェクタに 連結される5つのアクチュエータを備え、 該エンドエフェクタは、第1の作業部材と、該第1の作業部材に対して鋏状の 作用で移動され得る第2の作業部材とを備え、 これにより、該アクチュエータの選択的な活性化により、該第2の作業部材が 該第1の作業部材に対して自由度1で移動し、また該第1の作業部材が該支持ブ ラケットに対して自由度4で移動するように作動する、請求項1に記載の連結外 科手術用器具。 3.前記支持ブラケットに接続される取付ブラケットを備え、該取付ブラケット は、前記連結外科手術用器具を位置決め機構に取り外し可能に接続するように適 用される、請求項1に記載の連結外科手術用器具。 4.第1のアクチュエータが第1のケーブルを駆動し、これに対して第2のケー ブルは第2のアクチュエータによって駆動され、これにより前記第1の作業部材 を前記支持部材に対して第1の自由度で移動させる、請求項2に記載の連結外科 手術用器具。 5.第3のアクチュエータが第3のケーブルを駆動し、これに対して第4のケー ブルは第4のアクチュエータによって駆動され、これにより前記第2の作業部材 を前記第1の作業部材に対して自由度1で移動させる、請求項4に記載の連結外 科手術用器具。 6.前記第1および第2のアクチュエータが前記第1および第2のケーブルをそ れぞれ同時に駆動し、これに対して前記第3および第4のケーブルがそれぞれ前 記第3および第4のアクチュエータによって同時に駆動され、これにより、前記 第1の作業部材を前記支持部材に対して第2の自由度で移動させる、請求項5に 記載の連結外科手術用器具。 7.前記第1、第2、第3および第4のアクチュエータがそれぞれ前記第1、第 2、第3および第4のケーブルを同時に駆動し、これにより前記細長い支持部材 を前記支持軸に沿って移動させる、請求項5に記載の連結外科手術用器具。 8.最低侵襲性外科手術のための連結外科手術用器具であって、 該連結外科手術用器具を作動させる4つのアクチュエータを備えたアクチュエ ータ手段と、 該4つのアクチュエータに固定される支持手段と ヒトの組織を操作する第1の作業部材を備えた外科手術用エンドエフェクタと 、 該外科手術用エンドエフェクタに連結され、該外科手術用エンドエフェクタを 自由度2で移動させるリスト手段と、 該リスト手段に連結され、該外科手術用エンドエフェクタを開口部を介して患 者に挿入するための細長い支持部材と、 該細長い支持部材と該支持ブラケットとの間に配置され、該細長い支持部材を 該支持ブラケットに対して回転させる回転ジョイント手段と、 該細長い支持部材と該支持ブラケットとの間に配置され、該細長い支持部材を 該支持ブラケットに対して伸張および退却させる線形ジョイント手段と、 該アクチュエータ手段と、該リスト手段、該回転ジョイント手段および該線形 ジョイント手段との間に連結され、該アクチュエータ手段の選択的な活性化によ り該外科手術用エンドエフェクタの該第1の作業部材が、該細長い支持部材に対 して自由度2で移動し、該細長い支持部材が該支持ブラケット手段に対して伸張 および退却し、そして該支持部材が該支持ブラケット手段に対して回転するよう 作動し、これにより該第1の作業部材が該支持ブラケット手段に対して自由度4 で移動する、ケーブル駆動手段と、 を備えた連結外科手術用器具。 9.前記アクチュエータ手段は5つのアクチュエータを備え、 該アクチュエータ手段は、前記ケーブル駆動手段によって前記外科手術用エン ドエフェクタ、前記リスト手段、前記回転ジョイント手段および前記線形ジョイ ント手段に連結され、 該外科手術用エンドエフェクタは、前記第1の作業部材に対向する第2の作業 部材を備え、 該アクチュエータ手段の選択的活性化により、該外科手術用エンドエフェクタ の該第2の作業部材が、該外科手術用エンドエフェクタの該第1の作業部材に対 して自由度1で移動するように作動する、請求項8に記載の連結外科手術用器具 。 10.前記支持部材に接続され、前記連結外科手術用器具を位置決め装置に取り 外し可能に取り付ける取付手段をさらに備えた、請求項9に記載の連結外科手術 用器具。 11.前記アクチュエータ手段は、第2のケーブルに対向する第1のケーブルを 駆動し、これにより前記第1の作業部材手段を前記支持部材に対して自由度1で 移動させる、請求項9に記載の連結外科手術用器具。 12.前記アクチュエータ手段は、第4のケーブルに対向する第3のケーブルを 駆動し、これにより前記第2の作業部材手段を前記第1の作業手段に対して自由 度1で移動させる、請求項11に記載の連結外科手術用器具。 13.前記アクチュエータ手段は、前記第1および第2のケーブルを同時に駆動 し、これに対して、前記第3および第4のケーブルが同時に駆動され、これによ り、前記第1の作業部材を前記第2の作業部材に対して第2の自由度で移動させ る、請求項12に記載の連結外科手術用器具。 14.前記アクチュエータ手段は、前記第1、第2,第3および第4のケーブル を同時に駆動し、これにより、前記細長い支持部材を前記支持ブラケット手段に 対して伸張および退却させる、請求項13に記載の連結外科手術用器具。 15.最低侵襲性外科手術のための連結外科手術用器具を作動する方法であって 、 支持ブラケットと、近位端、遠位端、および該近位端から該遠位端まで長さ方 向に延びる支持軸を有する細長い支持部材と、該支持部材と該支持ブラケットと の間に配置され、該支持部材を該支持ブラケットに対して該支持軸のまわりを回 転させる回転ジョイントと、該支持部材と該支持ブラケットとの間に配置され、 該支持部材を該支持ブラケットに対して該支持軸に沿って伸張および退却させる 線形ジョイントと、ヒトの組織を操作する外科手術用端部エフェクトと、該エン ドエフェクタと該細長い支持部材の該遠位端との間に配置され、該エンドエフェ クタを自由度2で旋回移動させるリスト機構とを有する連結外科手術用器具を配 備するステップと、 それぞれ第1、第2、第3および第4のケーブルに連結される第1、第2、第 3および第4のアクチュエータを備えたケーブル駆動システムを配備するステッ プと、 該細長い支持部材の該遠位端を小さな開口部を介して患者体内の外科手術部位 まで挿入するステップと、 該第1、第2、第3および第4のアクチュエータを選択的に作動させて、それ ぞれ該第1、第2、第3および第4のケーブルを駆動し、これにより該リスト機 構を作動させ、また該エンドエフェクタを該支持部材に対して自由度2で移動さ せるステップと、 ヒトの組織を該エンドエフェクタで操作するステップと を包含する方法。 16.前記エンドエフェクタは第1の作業部材を備え、前記方法は、 前記第1のアクチュエータを作動させて前記第1のケーブルを駆動するステッ プと、 前記第2のアクチュエータを作動させて、該第1のケーブルに対向する前記第 2のケーブルを駆動し、これにより該第1の作業部材を該第2のエンドエフェク タに対して第1の自由度で移動させるステップとをさらに包含する、請求項15 に記載の連結外科手術用器具を操作する方法。 17.前記エンドエフェクタは、前記第1の作業部材に対向する第2の作業部材 を備え、前記方法は、 前記第3のアクチュエータを作動させて前記第3のケーブルを駆動するステッ プと、 前記第4のアクチュエータを作動させて、該第1のケーブルに対向する前記第 4のケーブルを駆動し、これにより該第2の作業部材を該第1の作業部材に対し て自由度1で移動させるステップと、 をさらに包含する請求項16に記載の連結外科手術用器具を操作する方法。 18.前記第1および第2のアクチュエータを作動させて、それぞれ前記第1お よび第2のケーブルを同時に駆動するステップと、 前記第3および第4のアクチュエータを作動させて、該第1および第2のケー ブルに対向する前記第3および第4のケーブルをそれぞれ同時に駆動し、これに より前記リスト機構を作動させて、前記エンドエフェクタの前記第1の作業部材 を該支持部材に対して第2の自由度で移動させるステップと、 をさらに包含する、請求項17に記載の連結外科手術用器具を操作する方法。 19.前記第1、第2、第3および第4のアクチュエータを作動させてそれぞれ 前記第1、第2、第3および第4のケーブルを同時に駆動し、これにより前記細 長い支持部材を該細長い支持部材の長軸に沿って移動させるステップをさらに包 含する、請求項17に記載の連結外科手術用器具を操作する方法。 20.前記連結外科手術用器具を配備するステップは、第5,第6、第7および 第8の中間アイドラプーリーを配備するステップをさらに包含し、 前記方法は、該第5,第6、第7および第8の中間アイドラプーリーを、それ ぞれ前記第1,第2、第3および第4のケーブルと係合させるステップをさらに 包含する、請求項15に記載の連結外科手術用器具を操作する方法。 21.複数のアクチュエータと、複数のケーブルと、支持ブラケットと、細長い 支持部材と、リスト機構と、外科手術用エンドエフェクタとを備えた、最低侵襲 性外科手術のための連結外科手術用器具であって、 該細長い支持部材は、近位端および遠位端と、該細長い支持部材に沿って該近 位端から該遠位端まで長さ方向に延びる支持軸とを有し、 該支持部材の該近位端は、該支持ブラケットに対する移動に自由度Xを有する 1つ以上のジョイントによって該支持ブラケットに連結され、 該リスト機構は、該外科手術用エンドエフェクタを該支持部材の該遠位端に連 結し、該エンドエフェクタの該支持部材に対する移動に自由度Yを与え、 該外科手術用エンドエフェクタは、自由度Zを有するかまたは互いに対して移 動が自由である1つ以上の構成要素を有し、 アクチュエータ数はX+Y+Zに等しく、 該細長い支持部材を通るケーブルの数はY+Z+2以下である、連結外科手術 用器具。 22.前記細長い支持部材を通る前記ケーブルの数はY+Z+1以下である、請 求項21に記載の連結外科手術用器具。 23.X=2、Y=2、およびZ=1である、請求項21に記載の連結外科手術 用器具。
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