JP2008501478A - 外科用または診断用の工具の遠隔操作のためのリンク・システムおよび関節運動機構 - Google Patents
外科用または診断用の工具の遠隔操作のためのリンク・システムおよび関節運動機構 Download PDFInfo
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Abstract
Description
本願は、2004年6月7日に出願された、米国仮出願番号60/577,757の利益を主張する。この仮出願は、本開示に参考として援用される
(発明の分野)
本発明は、外科用または診断用の器具および工具の遠隔案内および操作など、リンク・システムおよびその用途に関する。
器具および工具を容易に遠隔位置から操向、案内、および/または操作するための能力は、とくには手による手作業での移動が容易ではなく、あるいは他にリスクまたは危険を呈しうる作業空間へと器具または工具を進めることが望まれる種々さまざまな産業および用途において、関心の対象となっている。それらには、例えばある特定の外科的処置あるいは機械装置の製造または修理など、工具または器具を適用しようとする目標部位がアクセス困難である状況が挙げられ、さらには手による目標部位へのアクセスが制約され、あるいは不可能である商業および家庭の用途が挙げられる。他の状況としては、例えば危険な化学物質にさらされた作業空間など、作業環境がユーザにとって危険である産業用途を例えば挙げることができる。さらに他の状況としては、危険でありあるいは敵対的である場所への工具または器具の配置など、ユーザがリスクにさらされる可能性がある警察または軍事の用途を例えば挙げることができる。
本発明は、外科用または診断用の器具または工具などの器具の遠隔操作が挙げられるがこれらに限定されない、さまざまな目的に有用な関節運動機構、リンク・システム、およびそれらの構成要素を提供する。そのような器具および工具としては、内視鏡、光源、カテーテル、ドップラー流量計、マイクロホン、プローブ、鉤(retractor)、ディセクター(dissector)、ステープル、クランプ、把持具、はさみまたはカッター、ならびに切除または焼灼用の要素が挙げられるがこれらに限定されない、外科用または診断用の器具または工具を挙げることができる。非外科用の用途における他の器具または工具としては、把持具、ドライバー、動力工具、溶接機、磁石、光学レンズおよびビューア、電気工具、聴覚/視覚ツール、レーザ、モニタ、などが挙げられるがこれらに限定されない。用途に応じ、本発明の関節運動機構、リンク・システム、および他の構成要素を、数々の器具および工具の組み込みまたは数々の器具および工具への適合に対応するため、容易に拡大縮小できると考えられる。リンク・システムおよび関節運動機構を、これらの器具または工具を所望の目標部位へと操向するために使用することができ、さらにはそのような器具および工具を操作し、あるいは操作を容易にするために使用することができる。
本明細書においてさらに詳しく説明されるように、種々さまざまな装置を形成でき、あるいは種々さまざまな装置へと取り入れることができ、さもなければ種々さまざまな装置を構成できる関節運動リンク・システムおよび機構が提供される。リンク・システムは、個々のリンクの組み合わせから製作することができる。本発明による関節運動機構は、大まかには、複数のリンク・ペアおよび少なくとも1つの個別のリンク・ペアを接続する少なくとも1つのケーブル・セットを備えている。本明細書において使用されるとき、用語「リンク」は、リンク・システムまたは関節運動機構の個別の一部分であって、当該機構またはシステムの他の個別の一部分に対して相対運動できる一部分を指す。いくつかの実施の形態においては、リンクが、当該機構の反対側の端部に位置する他の個別の一部分または所定の領域に対応することができる。リンクは、必須ではないが典型的には、円柱形である。リンクは、当該機構の長手軸に沿っておおむね整列している。ある実施の形態においては、リンク・システムが複数のリンクを備えており、そのうちの少なくとも2つがブッシュによって隔てられている。
Claims (49)
- 外科用または診断用の工具を遠隔操作するための関節運動機構であって、
・複数のリンク・ペア、および
・複数のケーブル・セット
を有しており、
各リンクが、当該ペアの他方のリンクに対して離間した関係に保たれるとともに、少なくとも2つの隣り合うリンクが、2つの別個の枢支点を中心として互いに対して枢動可能であり、
各セットが、個々のペアのリンクを、ペアの一方のリンクの動きによって当該ペアの他方のリンクに対応する相対運動が生じるように互いに接続している関節運動機構。 - 前記少なくとも2つの隣り合うリンクが、軸方向に整列した凸状の突起または凹状のくぼみをそれぞれ有する対向面を有するとともに、該少なくとも2つの隣り合うリンクの間に介装されたブッシュによって隔てられており、
該ブッシュが、前記少なくとも2つの隣り合うリンクのそれぞれの凸状の突起または凹状のくぼみと接触している請求項1に記載の関節運動機構。 - 隣り合うリンクの少なくとも1つの凸状の突起または凹状のくぼみが、半球形である請求項2に記載の関節運動機構。
- 前記ブッシュが、前記少なくとも2つの隣り合うリンクのそれぞれの凸状の突起または凹状のくぼみを受け入れる凹状のくぼみおよび/または凸状の突起を有している請求項2に記載の関節運動機構。
- 少なくとも1つのブッシュが、両側に2つの凹状のくぼみを有している請求項4に記載の関節運動機構。
- 少なくとも1つのブッシュが、両側に2つの凸状の突起を有している請求項4に記載の関節運動機構。
- 少なくとも1つのブッシュが、両側に1つの凹状のくぼみおよび1つの凸状の突起を有している請求項4に記載の関節運動機構。
- 前記リンクが、近位端および遠位端を形成しており、対応するペアのリンクが、それぞれ近位端および遠位端に位置しており、
近位端の運動によって、遠位端の対応する相対運動が生じる請求項1に記載の関節運動機構。 - 前記遠位端の対応する相対運動が、近位端の運動に対して逆(reciprocal)である請求項8に記載の関節運動機構。
- 前記遠位端の対応する相対運動が、近位端の運動を鏡映し(mirror)している請求項8に記載の関節運動機構。
- 遠位端に外科用または診断用の工具が取り付けられている請求項8に記載の関節運動機構。
- 前記工具が、ステープル、クランプ、把持具、はさみ、カッター、切除要素、および焼灼要素からなる群より選択される請求項11に記載の関節運動機構。
- リンク・ペアの間に配置されて該リンク・ペアを離間した関係に保つ細長いシャフト
をさらに有している請求項1に記載の関節運動機構。 - 前記細長いシャフトが、前記ケーブル・セットを収容している請求項13に記載の関節運動機構。
- 前記リンク・ペアが、隣り合うリンク・ペアに組み合わせられたケーブル・セットを受け入れて通過させる通路を備えている請求項1に記載の関節運動機構。
- 個別のケーブル・セットによって接続されていない1つ以上のスペーサ・リンクをさらに有している請求項1に記載の関節運動機構。
- 個別のケーブル・セットによって接続されていない1つ以上のスペーサ・リンクをさらに有しており、各スペーサ・リンクが、軸方向に整列した凸状の突起または凹状のくぼみを備えるとともに、当該スペーサ・リンクと隣のリンクとの間に介装されたブッシュによって隣のリンクから隔てられている請求項2に記載の関節運動機構。
- 前記スペーサ・リンクの凸状の突起または凹状のくぼみが、半球形である請求項17に記載の関節運動機構。
- リンク・ペアを接続しているケーブルの当該ペアの第1のリンクの中心からの半径方向の距離が、当該ペアの第2のリンクと異なっている請求項1に記載の関節運動機構。
- 外科用または診断用の工具を遠隔操作するための関節運動機構であって、
・長手軸を有する細長いシャフト、
・前記軸の遠位端に位置して軸方向に整列した複数のリンク、および
・前記軸方向に整列したリンクの近位側に位置し、前記軸方向に整列したリンクへと接続されて前記軸方向に整列したリンクの運動を生じさせることができる操作要素を受け入れることができる固定機構
を有しており、
前記固定機構が、該固定機構へと受け入れられたときの操作要素の運動を妨げることによって、前記軸方向に整列したリンクの運動を妨げるようにさらに構成されている関節運動機構。 - 前記固定部材が、可動の固定部材および固定された接触部材をさらに有しており、
可動の固定部材の動きによって、固定機構へと受け入れられたときの操作要素を固定された接触部材に接触させて、前記軸方向に整列したリンクの運動を妨げることができる請求項20に記載の関節運動機構。 - 1つ以上の軸方向に整列したリンクに遠位側において接続された1つ以上のケーブルをさらに有しており、該ケーブルが、近位側において前記細長いシャフトを通って受け入れられており、前記固定部材の動きによって1つ以上のケーブルが前記固定された接触部材に接触させられて、1つ以上のケーブルの動きが摩擦によって妨げられる請求項21に記載の関節運動機構。
- 前記固定機構が、前記細長いシャフトの遠位側に位置している請求項20に記載の関節運動機構。
- 前記固定機構が、前記細長いシャフトの近位側に位置している請求項20に記載の関節運動機構。
- ・前記細長いシャフトの近位側に位置する複数の相互リンクであって、それぞれがリンク・ペアを形成すべく前記細長いシャフトの遠位側の複数のリンクのうちの1つへと、ペアの一方のリンクの動きによって当該ペアの他方のリンクの対応する相対運動が生じるように少なくとも1つのケーブル・セットによって接続されている複数の相互リンク
をさらに有している請求項20に記載の関節運動機構。 - 前記固定機構が、1つ以上の固定溝および該1つ以上の固定溝に配置された1つ以上の可動のボタン部材をさらに有している請求項20に記載の関節運動機構。
- 1つ以上のケーブル・セットを受け入れる1つ以上の貫通通路と、それぞれの貫通通路に組み合わせられた1つ以上の固定溝とを備えるハウジングをさらに有しており、
前記固定溝内の前記ボタン部材が押し下げられることによって、関連の貫通通路内のケーブルが円柱形のハウジングに摩擦接触して、摩擦によって該ケーブルの動きが妨げられる請求項26に記載の関節運動機構。 - ケーブル固定機構が、前記ハウジングの周囲に配置されたスライダをさらに有しており、該スライダの動きによって前記1つ以上のボタン部材が押し下げられる請求項27に記載の関節運動機構。
- 前記円柱形のハウジングの中心軸に沿った異なる位置に配置された複数の固定溝およびボタン部材をさらに有している請求項28に記載の関節運動機構。
- 前記固定機構が、固定されたカラーおよび可動のカラーをさらに有しており、
該カラーが、一方のカラーを通過し他方のカラーの外周部を通過する1つ以上のケーブル・セットに軸方向に整列しており、
固定されたカラーに向かう可動のカラーの動きによって、1つ以上のケーブルをカラーに接触させて、摩擦によって1つ以上のケーブルの動きを妨げる請求項20に記載の関節運動機構。 - 一方のカラーが他方のカラーよりも大きい直径を有している請求項30に記載の関節運動機構。
- ・外科用または診断用の工具、
・前記外科用または診断用の工具の近位側の複数のリンクであって、少なくとも2つの隣り合うリンクが2つの別個の枢支点を中心として互いに対して枢動可能である複数のリンク、
・前記複数のリンクの近位側の細長いシャフト、および
・遠位側が1つ以上のリンクに接続されるとともに、近位側が前記細長いシャフトを通って受け入れられている1つ以上のケーブルであって、1つ以上のケーブルの動きによって1つ以上のリンクの運動が引き起こされる1つ以上のケーブル
を有している外科用器具。 - 前記少なくとも2つの隣り合うリンクが、軸方向に整列した凸状の突起または凹状のくぼみをそれぞれ有する対向面を有するとともに、該少なくとも2つの隣り合うリンクの間に介装されたブッシュによって隔てられており、
該ブッシュが、前記少なくとも2つの隣り合うリンクのそれぞれの凸状の突起または凹状のくぼみを補完している請求項32に記載の外科用器具。 - 前記少なくとも2つの隣り合うリンクのそれぞれの凸状の突起および/または凹状のくぼみが、半球形である請求項33に記載の外科用器具。
- 前記ブッシュが、前記隣り合うリンクのそれぞれの凸状の突起および/または凹状のくぼみを受け入れる凹状のくぼみおよび/または凸状の突起を有している請求項33に記載の外科用器具。
- ・前記シャフトの近位側に位置する複数の相互リンクであって、それぞれがリンク・ペアを形成すべく前記シャフトの遠位側の複数のリンクのうちの1つへと、ペアの一方のリンクの動きによって当該ペアの他方のリンクの対応する相対運動が生じるように少なくとも1つのケーブル・セットによって接続されている複数の相互リンク
をさらに有している請求項32に記載の外科用器具。 - 前記細長いシャフトの近位側に位置し、前記外科用または診断用の工具に作用可能に接続されている操作ハンドル
をさらに有している請求項36に記載の外科用器具。 - 前記操作ハンドルが、前記複数の相互リンクの近位側に位置している請求項37に記載の外科用器具。
- 前記複数の相互リンクが、前記操作ハンドルから延びている請求項37に記載の外科用器具。
- 1つ以上のケーブルの動きを妨げることによって前記リンクの動きを妨げるように構成されたケーブル固定機構をさらに備えている請求項37に記載の外科用器具。
- リンク・ペアを接続しているケーブルの当該ペアの第1のリンクの中心からの半径方向の距離が、当該ペアの第2のリンクと異なっている請求項37に記載の外科用器具。
- 複数のリンクを有しており、少なくとも2つの隣り合うリンクが2つの別個の枢支点を中心として互いに対して枢動可能である関節運動リンク・システム。
- 前記少なくとも2つの隣り合うリンクが、軸方向に整列した凸状の突起または凹状のくぼみをそれぞれ有する対向面を有しており、
さらにブッシュが、前記少なくとも2つの隣り合うリンクの間に介装されており、
該ブッシュが、前記少なくとも2つの隣り合うリンクのそれぞれの凸状の突起または凹状のくぼみと接触している請求項42に記載の関節運動リンク・システム。 - 隣り合うリンクの少なくとも1つの凸状の突起または凹状のくぼみが、半球形である請求項43に記載のリンク・システム。
- 前記ブッシュが、前記少なくとも2つの隣り合うリンクのそれぞれの凸状の突起または凹状のくぼみを受け入れる凹状のくぼみおよび/または凸状の突起を有している請求項43に記載のリンク・システム。
- 少なくとも1つのブッシュが、両側に2つの凹状のくぼみを有している請求項45に記載のリンク・システム。
- 少なくとも1つのブッシュが、両側に2つの凸状の突起を有している請求項45に記載のリンク・システム。
- 少なくとも1つのブッシュが、両側に1つの凹状のくぼみおよび1つの凸状の突起を有している請求項45に記載のリンク・システム。
- 前記複数のリンクに軸方向に整列した少なくとも1つのケーブル・セットをさらに有しており、該少なくとも1つのケーブル・セットが、少なくとも1つのリンクに取り付けられている請求項42に記載のリンク・システム。
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US8419747B2 (en) | 2013-04-16 |
JP2012066102A (ja) | 2012-04-05 |
US8920429B2 (en) | 2014-12-30 |
US20050273084A1 (en) | 2005-12-08 |
WO2005120327A3 (en) | 2006-03-02 |
US7828808B2 (en) | 2010-11-09 |
CN102525659B (zh) | 2014-11-26 |
US20100249759A1 (en) | 2010-09-30 |
EP2992808A1 (en) | 2016-03-09 |
EP1768543A2 (en) | 2007-04-04 |
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US20130218141A1 (en) | 2013-08-22 |
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CN102525659A (zh) | 2012-07-04 |
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US9517326B2 (en) | 2016-12-13 |
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R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |
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R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |