JP2007510470A - 最小侵襲性介入用ロボット - Google Patents
最小侵襲性介入用ロボット Download PDFInfo
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- 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
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—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
- A61B1/00147—Holding or positioning arrangements
- A61B1/00156—Holding or positioning arrangements using self propulsion
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—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
- A61B1/005—Flexible endoscopes
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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
- A61B17/04—Surgical instruments, devices or methods, e.g. tourniquets for suturing wounds; Holders or packages for needles or suture materials
- A61B17/0469—Suturing instruments for use in minimally invasive surgery, e.g. endoscopic 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
- A61B34/70—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
- A61B34/70—Manipulators specially adapted for use in surgery
- A61B34/72—Micromanipulators
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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
- A61B2017/00238—Type of minimally invasive operation
- A61B2017/00243—Type of minimally invasive operation cardiac
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- A—HUMAN NECESSITIES
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- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/00681—Aspects not otherwise provided for
- A61B2017/00694—Aspects not otherwise provided for with means correcting for movement of or for synchronisation with the body
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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
- A61B2017/00681—Aspects not otherwise provided for
- A61B2017/00694—Aspects not otherwise provided for with means correcting for movement of or for synchronisation with the body
- A61B2017/00703—Aspects not otherwise provided for with means correcting for movement of or for synchronisation with the body correcting for movement of heart, e.g. ECG-triggered
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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
- A61B17/04—Surgical instruments, devices or methods, e.g. tourniquets for suturing wounds; Holders or packages for needles or suture materials
- A61B17/0469—Suturing instruments for use in minimally invasive surgery, e.g. endoscopic surgery
- A61B2017/0474—Knot pushers
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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
- A61B17/04—Surgical instruments, devices or methods, e.g. tourniquets for suturing wounds; Holders or packages for needles or suture materials
- A61B17/0469—Suturing instruments for use in minimally invasive surgery, e.g. endoscopic surgery
- A61B2017/0475—Suturing instruments for use in minimally invasive surgery, e.g. endoscopic surgery using sutures having a slip knot
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/04—Surgical instruments, devices or methods, e.g. tourniquets for suturing wounds; Holders or packages for needles or suture materials
- A61B17/06—Needles ; Sutures; Needle-suture combinations; Holders or packages for needles or suture materials
- A61B17/06066—Needles, e.g. needle tip configurations
- A61B2017/06076—Needles, e.g. needle tip configurations helically or spirally coiled
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/30—Surgical pincettes without pivotal connections
- A61B2017/306—Surgical pincettes without pivotal connections holding by means of suction
-
- 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
- A61B2034/301—Surgical robots for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- 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
- A61B90/36—Image-producing devices or illumination devices not otherwise provided for
- A61B90/361—Image-producing devices, e.g. surgical cameras
Abstract
Description
Vinci System)である。そのシステムは遠隔操作的(teleoperative)である、すなわち、入力デバイス上の外科医の手の運動が身体内に配置された腹腔鏡式マニュピレーター(laparoscopic manupilator)により鏡写し(mirrored)されることを意味する。この様なシステムは従来の腹腔鏡式機器より優れた器用さ(dexterity)を提供出来るが、それはその心臓について或る形の安定性を要求し、肺を虚脱(collapsing)させることを要求し、限定した手術範囲(operative field)しか有せずそして嵩張って高価である。
et al.)により非特許文献1で初めて説明され、続く報告書は平坦胸部トラウマ(blunt chest trauma)、心外膜浸出(epicardial effusion)そして肺ガンステージング(lung cancer staging)を評価するためにその技術を使った。ラットアウフ他(Lattouf)は左心室ペーシングリード(left ventricular pacing leads)の心外膜埋入(epicardial implantation)用にその技術を利用した。これらの報告書の各々では、内視鏡アクセスは左胸膜空間(left pleural space)の切開(breach)を伴う開胸(thoractomy)を要した。サブキシフォイド穿刺(subxiphoid puncture)を介した心膜空間(pericardial space)への直接アクセスはカテーテル切開処置(catheter ablation procedure)中に益々実用されている技術である。これらの報告書では、一旦アクセスが達成されると、カテーテル操作は透視装置(fluoroscopy)のみによりガイドされる。我々は固定を達成能力不足のために失敗して来たこのアプローチを使う標準的ぺーシングリード埋入(standard paci
ng lead implantation)に於ける切迫した企図(cursory attempts)を知っている。
crawling robotic device)で達成される。鼓動する心臓運動の問題は該デバイスを直接心外膜に取り付けることにより殆ど避けられる。アクセスの問題は移動能力(capability for locomotion)を組み入れることにより解決される。
それが通常ある程低くは落ち着かなかった。従って、この影響を避けるために、該ビデオデバイスは該心膜から除かれ、今度は該試みをモニターする外部ビデオレコーダーのみを用いて該テストは繰り返された。該デバイスの起こし及び再取り付けの両試みが成功裡に行われ、組織の損傷は無く、デバイスへの損傷も無かった。
opulmonary bypass)か、何れかのニーヅを取り除く。
system)は腹腔鏡式マニピュレーター(laparoscopic manipulator)及びカメラを使い、幾つかの肋間の(肋骨間の)切開を通して心膜嚢に導入される。これらの機器は心臓に到達する前に胸膜空間を通過せねばならず、それは肺の虚脱(collapsing)を要する。心臓への該デバイス10の送達は肺の虚脱を要しないが、何故ならばそれはキシフォイドプロセスの下に直接作られる切開を通して胸郭空洞に導入されるからである。次いで内視鏡は、心膜の裸範囲に到達するまで、胸骨の下の組織及び筋膜を通るよう押され、決して胸膜空間に入らない。該スコープは又心膜を破るため使われ、該デバイス10を心外膜へ直接送達する。該デバイス10は肺の虚脱を要しないので、それは又患者の差動換気(differential ventilation)を要せず、従って総合的気管内麻酔{ジーイーテイエイ(GETA)}の代わりに局部又は領域麻酔が使われることが可能である。結果として、可能な利点は該デバイス10が或る心臓血管の介入が救急外来患者ベースで行われることを可能にすることであり、それは幾らかでも前には決して無かったことである。
cart with multiple large robotic arms)とから成る。心膜内で行い得る処置用には、デバイス10はこのシステムへの小さな、極端に低コストの代替えを提供するであろう。
Claims (21)
- ゆるく拘束された身体空洞内の器官に沿い移動するためのロボットに於いて、該ロボットが、
器官に沿う移動用手段を具備しており、前記移動用手段は捕捉手段を備えており、該ロボットは又
可視的フイードバックを提供するための手段と、そして
前記ロボットの制御用の制御システムと、を具備することを特徴とする該ロボット。 - 前記移動用手段が、複数のボデイセクションと、前記セクションが相互に対し運動することを可能にする仕方で前記ボデイセクションを直列に相互結合する手段と、備えており、前記直列に相互結合する手段が前記制御システムに応答することを特徴とする請求項1の該ロボット。
- 前記捕捉手段が軟組織への取り付け用に前記複数のボデイ部分の少なくとも2つにより担われる吸引パッド、人造ゲコーフットヘア、又はタッキーフットの1つを有することを特徴とする請求項2の該ロボット。
- 前記ボデイセクションを直列に相互結合する前記手段が複数のワイヤ、ケーブル又は柔軟なドライブシャフトの1つを有しており、前記ボデイセクションを相互結合する前記手段が前記制御システムを近位のボデイセクションに追加的に直列に結合することを特徴とする請求項2の該ロボット。
- 前記制御システムがハンドルを備えておりそして前記ワイヤ、ケーブル又は柔軟なドライブシャフトが、それらの長さの少なくとも部分について、シース内に担われることを特徴とする請求項4の該ロボット。
- 前記ロボットが、追加的に、前記移動用手段をカバーするシェルを具備することを特徴とする請求項1の該ロボット。
- 追加して、超音波変換器、診断エイド又は他のセンサーの1つを有するツール、薬剤供給システム、治療デバイス、又は外科用ツールを具備することを特徴とする請求項1の該ロボット。
- 可視的フイードバックを提供するための前記手段がカメラ又はフアイバースコープの1つを備えることを特徴とする請求項1の該ロボット。
- 可視的フイードバックを提供するための前記手段が、ナビゲーション情報と、注意を受けるべき範囲の視認を提供するように位置付け可能であることを特徴とする請求項8の該ロボット。
- 追加して、第2のカメラ又はフアイバースコープを備えることを特徴とする請求項8の該ロボット。
- 生体内で使用するためのロボットに於いて、該ロボットが、該ロボットを器官の軟組織に取り付けるために該ロボットの1つの側にのみ捕捉手段を具備することを特徴とする該ロボット。
- 前記ロボットが移動用手段を具備しており、前記捕捉手段が前記移動用手段の部品であることを特徴とする請求項11の該ロボット。
- 前記ロボットが2つのボデイセクションを具備しており、各ボデイセクションは吸引パッド、人造ゲコーフットヘア、又はタッキーフットの1つを担うことを特徴とする請求項11の該ロボット。
- 追加して、該ロボットの、該捕捉手段を有する側より他の側、をカバーする流線型のシェルを具備することを特徴とする請求項11の該ロボット。
- 生体内でロボットを使う方法に於いて、該方法が該ロボットを器官に取り付ける過程を具備することを特徴とする該方法。
- 前記取り付ける過程が吸引部、人造ゲコーフットヘア又はタッキーフットの1つを該器官に付ける過程を備えることを特徴とする請求項15の該方法。
- 追加して、該器官に沿う該ロボットの運動を制御する過程を具備することを特徴とする請求項15の該方法。
- 生体内の器官上にロボットを位置付ける方法に於いて、該方法が、
該ロボットを器官上に置く過程と、
該ロボットが該器官と同じ基準フレーム内にあるよう該ロボットを該器官に取り付ける過程と、そして
該器官と同じ基準フレーム内に留まりながら該ロボットが該器官に沿って運動出来るようにする過程と、を具備することを特徴とする該方法。 - ゆるやかに拘束された身体空洞内で使用するためのロボットに於いて、該ロボットが
遠位のボデイと近位のボデイと具備しており、各々は捕捉デバイスを担っており、該ロボットは又
制御システムと、
前記制御システムを前記遠位のボデイに直列に相互結合するためのケーブルと、を具備しており、前記ケーブルは前記近位のボデイを通過しており、そして該ロボットは又
前記制御システムと前記近位のボデイの間の前記ケーブルを担うシースを具備することを特徴とする該ロボット。 - 1方法に於いて、該方法が
制御システムと近位のボデイの間と該近位のボデイと遠位のボデイの間とのケーブルの長さを確立する過程を具備しており、前記ケーブルは該近位のボデイを通過し、該遠位のボデイに結合されており、前記ケーブルは該制御システムと前記近位のボデイの間で柔軟なシース内に担われており、該方法は又
捕捉デバイスの使用により該近位のボデイをアンカーする過程と、
該近位と遠位のボデイの間の該ケーブルの長さを増加することにより該遠位のボデイを前方へ動かしそれにより前記柔軟なシースを変形させる過程と、
捕捉デバイスの該使用により該遠位のセクションをアンカーし、該近位のセクションをリリースする過程と、そして
該柔軟なシースがその変形しない状態に戻ることを可能にすることにより該近位のボデイを動かす過程と、を具備することを特徴とする該方法。 - 身体内のサイトで結び目を結ぶ方法に於いて、該方法が
縫合糸の第1端部を身体の外部に保持する過程と、
最小侵襲性開口部を通して該身体内のサイトへ縫合糸の第2端部を送達する過程と、
該組織を穿孔するよう該縫合糸の該第2端部を担うニードルを操作する過程と、
該ニードルから該縫合糸の該第2端部を除去する過程と、
該最小侵襲性開口部を通して該身体の外部へ該縫合糸の該第2端部を送達する過程と、
該身体の外部で該結び目の少なくとも1部分を結ぶ過程と、
該最小侵襲性開口部を使って該身体の外部から該サイトへ該結び目の該部分を押す過程と、
該身体の外部で該結び目の残りを結ぶ過程と、そして
該結び目を完成するために該最小侵襲性開口部を使って該身体の外部から該サイトへ該結び目の該残りを押す過程と、を具備することを特徴とする該方法。
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
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US51858203P | 2003-11-07 | 2003-11-07 | |
PCT/US2004/036910 WO2005046461A1 (en) | 2003-11-07 | 2004-11-05 | Robot for minimally invasive interventions |
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JP2011180809A Division JP5869803B2 (ja) | 2003-11-07 | 2011-08-22 | 最小侵襲性介入用ロボット |
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JP2007510470A5 JP2007510470A5 (ja) | 2007-12-27 |
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JP2011180809A Expired - Fee Related JP5869803B2 (ja) | 2003-11-07 | 2011-08-22 | 最小侵襲性介入用ロボット |
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US (2) | US8162925B2 (ja) |
EP (1) | EP1689289B1 (ja) |
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WO2009037945A1 (ja) * | 2007-08-28 | 2009-03-26 | National University Corporation Chiba University | 腹腔鏡手術支援用ロボット |
JP2010172604A (ja) * | 2009-01-30 | 2010-08-12 | Chiba Univ | 腹腔鏡手術支援用ロボット |
JP2021502185A (ja) * | 2017-11-13 | 2021-01-28 | コーニンクレッカ フィリップス エヌ ヴェKoninklijke Philips N.V. | 解剖学的構造介入用の多段ロボット |
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Also Published As
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EP1689289B1 (en) | 2016-12-21 |
EP1689289A1 (en) | 2006-08-16 |
JP2012011215A (ja) | 2012-01-19 |
WO2005046461B1 (en) | 2005-07-28 |
JP5869803B2 (ja) | 2016-02-24 |
WO2005046461A1 (en) | 2005-05-26 |
US8162925B2 (en) | 2012-04-24 |
US20050154376A1 (en) | 2005-07-14 |
US9265582B2 (en) | 2016-02-23 |
US20120271318A1 (en) | 2012-10-25 |
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