JP2012513845A5 - - Google Patents
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- JP2012513845A5 JP2012513845A5 JP2011543714A JP2011543714A JP2012513845A5 JP 2012513845 A5 JP2012513845 A5 JP 2012513845A5 JP 2011543714 A JP2011543714 A JP 2011543714A JP 2011543714 A JP2011543714 A JP 2011543714A JP 2012513845 A5 JP2012513845 A5 JP 2012513845A5
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- catheter
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- 238000006073 displacement reaction Methods 0.000 claims 8
- 230000000875 corresponding Effects 0.000 claims 2
- 230000004913 activation Effects 0.000 claims 1
- 230000003287 optical Effects 0.000 claims 1
- 230000000704 physical effect Effects 0.000 claims 1
- 230000004044 response Effects 0.000 claims 1
- 238000004805 robotic Methods 0.000 claims 1
- 210000001519 tissues Anatomy 0.000 claims 1
Claims (29)
- 医療器具および電子制御システムを含むロボット医療システム用の入力装置であって、
前記入力装置は、
前記電子制御システムに連結されるように構成されたハンドルであって、前記電子制御システムは前記ハンドルの動作をそれにより生じる前記医療器具の動きに変換するように構成され、前記ハンドルは、さらに、中心軸の周りに回転可能であり、且つ前記中心軸に沿って長手方向に変位可能であるように構成され、
前記ハンドル又はその周りに配置され、且つ医療器具の遠位端の偏向平面内での偏向を選択的に制御するように構成された偏向制御要素と、を備えており、
前記ハンドルを長手方向に変位させると、前記医療器具の対応する長手方向の動きが生じ、又は結果としてもたらされ、
前記ハンドルを回転させると、前記偏向平面の対応する回転が生じ、又は結果としてもたらされる、入力装置。 - 前記ハンドルに作動可能に接続又は連結され、且つ前記ハンドルの変位を計測するように構成された少なくとも1つのセンサをさらに備えている、請求項1に記載の入力装置。
- 前記少なくとも1つのセンサは、前記センサの起動時又は変位時に制御システムに信号を提供するように構成されている、請求項2に記載の入力装置。
- 前記信号は、前記医療器具の所望の動作を示す、請求項3に記載の入力装置。
- 前記医療器具の所望の動作の速度は、前記少なくとも1つのセンサの変位の大きさに比例する、請求項4に記載の入力装置。
- 前記ハンドルの回転に応答する第1のセンサと、前記ハンドルの長手方向の変位に応答する第2のセンサと、スイッチの変位に応答する第3のセンサとを備えている、請求項2〜5のいずれか一項に記載の入力装置。
- 前記スイッチは、ハンドル上に含まれている、請求項6に記載の入力装置。
- 前記ハンドルを連結させる制御ボックスをさらに含む、請求項2〜7のいずれか一項に記載の入力装置。
- 前記制御ボックスは、少なくとも1つのセンサを含む、請求項8に記載の入力装置。
- 前記制御ボックスは、前記ハンドルの動作に応答して1以上の電子信号を発生し、前記1以上の電子信号を電子制御ユニットに送信するように構成されている、請求項8または9に記載の入力装置。
- 前記ハンドルは、前記制御ボックスから選択的に着脱可能である、請求項8〜10のいずれか一項に記載の入力装置。
- 前記医療器具が、カテーテル、シース、又はカテーテル及びシースの双方を備えており、
前記入力装置が、前記カテーテル、シース、又はカテーテル及びシースの選択的な制御を可能にするように構成された選択スイッチを備えている、請求項1〜11のいずれか一項に記載の入力装置。 - 前記ハンドルが、カテーテル、シース、又はカテーテル及びシースの双方のいずれを制御するように構成されているかを示すための1つ又は複数のインジケータをさらに備えている、請求項1〜12のいずれか一項に記載の入力装置。
- 変位した後に初期位置又は中心となる位置に復帰するように構成される、請求項1〜13のいずれか一項に記載の入力装置。
- 前記少なくとも1つのセンサは、ポテンショメータ又はエンコーダである、請求項2〜11のいずれか一項に記載の入力装置。
- 前記少なくとも1つのセンサは、モータ及びエンコーダである、請求項2〜11のいずれか一項に記載の入力装置。
- 前記ハンドルを変位後に初期位置又は中心となる位置に復帰させるように構成された少なくとも1つのサーボモータをさらに備えている、請求項1〜16のいずれか一項に記載の入力装置。
- 前記少なくとも1つのサーボモータは、直接駆動構成で前記ハンドルに連結される、請求項17に記載の入力装置。
- 医療器具の意図的でない制御を防止するように構成されたデッドマンスイッチをさらに備えている、請求項1〜18のいずれか一項に記載の入力装置。
- 前記デッドマンスイッチは、前記ハンドルの少なくとも一部分と接触している手の一部の存在又は不在を検出するように構成された光学的スイッチ又は容量性スイッチである、請求項19に記載の入力装置。
- ユーザに触覚フィードバックを提供するようにさらに構成されている、請求項1〜20のいずれか一項に記載の入力装置。
- 前記入力装置が、前記ハンドルを介してユーザに昇温、降温、振動及び力のうちの少なくとも1つを提供するように構成されている、請求項21に記載の入力装置。
- 触覚フィードバックが、処置範囲内の組織とのカテーテル又はシースの遠位の接触を示す、請求項21に記載の入力装置。
- 触覚フィードバックが、前記入力装置又は関連するカテーテル若しくはシースの物理的特性を示す、請求項21に記載の入力装置。
- 第1のタイプの偏向制御要素を有する第1のハンドルが、選択的に取り外され、第2のタイプの偏向制御要素を有する第2のハンドルと交換されてもよい、請求項8〜11のいずれか一項に記載の入力装置。
- 前記第1のハンドルが、手動で回転させることが可能な機能を備えており、第2のハンドルが枢動可能部材を有している、請求項25に記載の入力装置。
- 前記第1のハンドル及び前記第2のハンドルの一方に連結された手動起動式解除機構をさらに備えている、請求項25または26に記載の入力装置。
- 前記第1のハンドル及び前記第2のハンドルの一方に連結されたメモリ構造をさらに備えており、
前記メモリ構造は、前記ハンドルの働きに関連する記憶情報を含んでいる、請求項25〜27のいずれか一項に記載の入力装置。 - 前記記憶情報は、予め設定された操作者の好みの設定及び訓練モード設定の少なくとも一方により選択的に修正可能である、請求項28に記載の入力装置。
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US14197108P | 2008-12-31 | 2008-12-31 | |
US61/141,971 | 2008-12-31 | ||
PCT/US2009/069712 WO2010078344A1 (en) | 2008-12-31 | 2009-12-29 | Robotic catheter system input device |
Publications (3)
Publication Number | Publication Date |
---|---|
JP2012513845A JP2012513845A (ja) | 2012-06-21 |
JP2012513845A5 true JP2012513845A5 (ja) | 2013-02-21 |
JP5773884B2 JP5773884B2 (ja) | 2015-09-02 |
Family
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Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2011543714A Expired - Fee Related JP5773884B2 (ja) | 2008-12-31 | 2009-12-29 | ロボットカテーテルシステム入力装置 |
Country Status (3)
Country | Link |
---|---|
US (1) | US20110238010A1 (ja) |
JP (1) | JP5773884B2 (ja) |
WO (1) | WO2010078344A1 (ja) |
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2009
- 2009-12-29 US US13/131,089 patent/US20110238010A1/en not_active Abandoned
- 2009-12-29 JP JP2011543714A patent/JP5773884B2/ja not_active Expired - Fee Related
- 2009-12-29 WO PCT/US2009/069712 patent/WO2010078344A1/en active Application Filing
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