JP2009522017A - モジュール式力センサ - Google Patents
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- JP2009522017A JP2009522017A JP2008548798A JP2008548798A JP2009522017A JP 2009522017 A JP2009522017 A JP 2009522017A JP 2008548798 A JP2008548798 A JP 2008548798A JP 2008548798 A JP2008548798 A JP 2008548798A JP 2009522017 A JP2009522017 A JP 2009522017A
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- 210000003857 wrist joint Anatomy 0.000 claims abstract description 13
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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
-
- 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
-
- 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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- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L1/00—Measuring force or stress, in general
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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
- A61B2034/305—Details of wrist mechanisms at distal ends of robotic arms
-
- 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
- A61B90/06—Measuring instruments not otherwise provided for
- A61B2090/064—Measuring instruments not otherwise provided for for measuring force, pressure or mechanical tension
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- Health & Medical Sciences (AREA)
- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Surgery (AREA)
- Robotics (AREA)
- Medical Informatics (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
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- Surgical Instruments (AREA)
Abstract
Description
F.Cepolina and R.C.Michelini、「Review of Fixtures for Low−Invasiveness Surgery」、Int’l Journal of Medica1 Robotics and Computer Assisted Surgery、Vol.l、Issue 1,page 58
Claims (29)
- モジュール式力センサ装置であって、
複数のひずみゲージを含む管部分と、
該複数のひずみゲージを覆っているカバーと、
ロボット手術システムのマニピュレータアームに動作可能に結合することができる手術器具のシャフトに、動作可能に結合する近位管部分と、
末端部分に結合される手首関節に、近位で結合する遠位管部分と
を備える、モジュール式力センサ装置。 - 前記管部分は陥没しており、前記近位管部分は隆起している、請求項1に記載の装置。
- 前記管部分は、前記手術器具の前記シャフトの材料とは異なる材料を含む、請求項1に記載の装置。
- 前記複数のひずみゲージは、4個ずつの2つのグループから成る8個のひずみゲージを含み、1つのグループのひずみゲージのそれぞれは、前記シャフトの周りで90度の間隔を置いている、請求項1に記載の装置。
- 前記複数のひずみゲージは、3個ずつの2つのグループから成る6個のひずみゲージを含み、1つのグループのひずみゲージのそれぞれは、前記シャフトの周りで120度の間隔を置いている、請求項1に記載の装置。
- 前記複数のひずみゲージは、前記シャフトの周りで90度の間隔を置いている4個のひずみゲージを含む、請求項1に記載の装置。
- 前記複数のひずみゲージは、前記シャフトの周りで120度の間隔を置いている3個のひずみゲージを含む、請求項1に記載の装置。
- 各ひずみゲージは、前記陥没している管部分の縦方向軸と平行な軸に沿って、1個の別のひずみゲージと整列させられる、請求項1に記載の装置。
- 前記ひずみゲージのそれぞれのひずみ感知主方向は、前記シャフトの縦方向軸と平行に配向させられる、請求項1に記載の装置。
- 前記複数のひずみゲージは、光ファイバ、箔、弾性表面波、および半導体型ひずみゲージより成る群から選択される、請求項1に記載の装置。
- ひずみゲージは、ファブリ・ペロー型ひずみゲージおよびファイバブラッググレーティング型ひずみゲージより成る群から選択される、請求項1に記載の装置。
- 前記カバーは、ガラス繊維、樹脂、および電気遮蔽物より成る群から選択される材料から成る、請求項1に記載の装置。
- 前記近位管部分は、前記管部分の縦方向軸に沿った複数の溝を含む、請求項1に記載の装置。
- 前記手首関節は、ヨー軸およびグリップ軸のための共通の旋回軸を共有する、請求項1に記載の装置。
- 前記末端部分は、ジョー、鋏、把持器、持針器、マイクロダイセクタ、ステープル留め器、鋲打ち器、吸引洗浄具、クリップ留め器、切断刃、焼灼プローブ、洗浄器、カテーテル、および吸引オリフィスより成る群から選択される、請求項1に記載の装置。
- モジュール式力センサ装置であって、
複数のひずみゲージを有する管部分と、ロボット手術システムのマニピュレータアームに動作可能に結合することができる手術器具のシャフトに、動作可能に結合する近位管部分とを含む内管と、
該内管を覆っている外管であって、該近位管部分に固定して結合され、該外管からの軸方向荷重に実質的に干渉せずに横方向荷重を感知するために、該内管の遠位管部分に動作可能に結合される、外管と
を備える、モジュール式力センサ装置。 - 前記外管は、エラストマを介して前記遠位管部分に動作可能に結合される、請求項16に記載の装置。
- 前記外管は、低摩擦材料から成る環状リングを介して前記遠位管部分に動作可能に結合される、請求項16に記載の装置。
- 前記外管は、低摩擦コーティングを介して前記遠位管部分に動作可能に結合される、請求項16に記載の装置。
- 前記管部分は、前記手術器具の前記シャフトの材料とは異なる材料から成る、請求項16に記載の装置。
- 前記複数のひずみゲージは、4個ずつの2つのグループから成る8個のひずみゲージを含み、1つのグループのひずみゲージのそれぞれは、前記シャフトの周りで90度の間隔を置いている、請求項16に記載の装置。
- 前記複数のひずみゲージは、3個ずつの2つのグループから成る6個のひずみゲージを含み、1つのグループのひずみゲージのそれぞれは、前記シャフトの周りで120度の間隔を置いている、請求項16に記載の装置。
- 前記複数のひずみゲージは、前記シャフトの周りで90度の間隔を置いている4個のひずみゲージを含む、請求項16に記載の装置。
- 前記複数のひずみゲージは、前記シャフトの周りで120度の間隔を置いている3個のひずみゲージを含む、請求項16に記載の装置。
- 前記複数のひずみゲージは、光ファイバ、箔、弾性表面波、および半導体型ひずみゲージより成る群から選択される、請求項16に記載の装置。
- ひずみゲージは、ファブリ・ペロー型ひずみゲージおよびファイバブラッググレーティング型ひずみゲージより成る群から選択される、請求項16に記載の装置。
- 前記外管は、ガラス繊維、樹脂、および電気遮蔽物より成る群から選択される材料から成る、請求項16に記載の装置。
- 前記末端部分は、ジョー、鋏、把持器、持針器、マイクロダイセクタ、ステープル留め器、鋲打ち器、吸引洗浄具、クリップ留め器、切断刃、焼灼プローブ、洗浄器、カテーテル、および吸引オリフィスより成る群から選択される、請求項16に記載の装置。
- 前記近位管部分は、前記管部分の縦方向軸に沿った複数の溝を含む、請求項16に記載の装置。
Applications Claiming Priority (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US75515705P | 2005-12-30 | 2005-12-30 | |
US60/755,157 | 2005-12-30 | ||
US11/553,303 US7752920B2 (en) | 2005-12-30 | 2006-10-26 | Modular force sensor |
US11/553,303 | 2006-10-26 | ||
PCT/US2006/062000 WO2007120329A2 (en) | 2005-12-30 | 2006-12-13 | Modular force sensor |
Related Child Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2012119920A Division JP5431527B2 (ja) | 2005-12-30 | 2012-05-25 | モジュール式力センサ |
Publications (2)
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JP2009522017A true JP2009522017A (ja) | 2009-06-11 |
JP5152993B2 JP5152993B2 (ja) | 2013-02-27 |
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JP2008548798A Active JP5152993B2 (ja) | 2005-12-30 | 2006-12-13 | モジュール式力センサ |
JP2012119920A Active JP5431527B2 (ja) | 2005-12-30 | 2012-05-25 | モジュール式力センサ |
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JP2012119920A Active JP5431527B2 (ja) | 2005-12-30 | 2012-05-25 | モジュール式力センサ |
Country Status (5)
Country | Link |
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US (1) | US8281670B2 (ja) |
EP (2) | EP2289455B1 (ja) |
JP (2) | JP5152993B2 (ja) |
KR (1) | KR101296220B1 (ja) |
WO (1) | WO2007120329A2 (ja) |
Cited By (10)
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WO2012153871A1 (en) * | 2011-05-12 | 2012-11-15 | Olympus Corporation | Surgical instrument device |
JP2013533063A (ja) * | 2010-08-02 | 2013-08-22 | ザ・ジョンズ・ホプキンス・ユニバーシティ | ロボットの協働制御および音声フィードバックを用いて力覚センサ情報を提示する方法 |
JP2015504689A (ja) * | 2011-12-03 | 2015-02-16 | コーニンクレッカ フィリップス エヌ ヴェ | 外科手術用ポートの位置決め |
JP2019034115A (ja) * | 2017-05-31 | 2019-03-07 | アクラレント インコーポレイテッドAcclarent, Inc. | 同軸環状センサを備えたナビゲート可能な吸引器具 |
JP2019512097A (ja) * | 2016-02-02 | 2019-05-09 | インテュイティブ サージカル オペレーションズ, インコーポレイテッド | ファラデーケージに歪みゲージを使用する器具力センサ |
JP2020089531A (ja) * | 2018-12-05 | 2020-06-11 | 国立大学法人 香川大学 | 内視鏡訓練装置および内視鏡手術補助装置 |
JP2020534078A (ja) * | 2017-09-20 | 2020-11-26 | マイクロポート(シャンハイ)メドボット カンパニー,リミティッド | 手術ロボットシステム |
JP2020534947A (ja) * | 2017-09-29 | 2020-12-03 | エシコン エルエルシーEthicon LLC | ロボット外科用ツールのための動力軸リスト部 |
JP2021506460A (ja) * | 2017-12-21 | 2021-02-22 | マイクロポート(シャンハイ)メドボット カンパニー,リミティッド | 手術ロボットシステム及びその手術器具 |
JP2021517040A (ja) * | 2018-03-16 | 2021-07-15 | シャンハイ マイクロポート メドボット(グループ)カンパニー,リミティッド | 手術ロボットシステム及びその手術器具 |
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EP2289455A2 (en) | 2011-03-02 |
US20100313679A1 (en) | 2010-12-16 |
EP2289455B1 (en) | 2019-11-13 |
KR101296220B1 (ko) | 2013-08-13 |
JP2012157744A (ja) | 2012-08-23 |
JP5431527B2 (ja) | 2014-03-05 |
EP2289455A3 (en) | 2016-04-06 |
EP1965717B1 (en) | 2012-05-16 |
US8281670B2 (en) | 2012-10-09 |
WO2007120329A2 (en) | 2007-10-25 |
WO2007120329A3 (en) | 2008-01-17 |
EP1965717A2 (en) | 2008-09-10 |
JP5152993B2 (ja) | 2013-02-27 |
KR20080089359A (ko) | 2008-10-06 |
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