JP2014168681A - モジュール式および協調型の医療装置ならびに関連するシステム - Google Patents
モジュール式および協調型の医療装置ならびに関連するシステム Download PDFInfo
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Abstract
【解決手段】 患者の腔内に配置されるように構成される少なくとも1つのモジュール式コンポーネントを有する、モジュール式医療装置またはシステムに関する。そのモジュール式コンポーネントは、本体、作動コンポーネント、および連結コンポーネントを有する。さらなる実施形態において、モジュール式コンポーネントは、第2のモジュール式コンポーネントに連結コンポーネントで連結されることができる。さらなる代替案において、第3のモジュール式コンポーネントが、第1および第2のモジュール式コンポーネントに連結されることができる。
【選択図】 図20A
Description
しかしながら、腹腔鏡検査のような公知の最小侵襲技術は、ある程度、1)アクセスポートを通して挿入される堅い道具を使用することにより生じる可動性の制限、および2)限定された視覚的フィードバックのために範囲および複雑性において限定される。ダヴィンチ(da Vinci)(登録商標)外科システム(カリフォルニア州サニーヴェールのIntuitive Surgical,Inc.から利用可能である)のような公知のロボットシステムはまた、アクセスポートによって制限されるだけではなく、非常に大きいこと、非常に高価であること、大半の病院において利用できないこと、ならびに限定された感覚能力および移動能力を有するというさらなる不都合を有する。
図1A〜1Cは、1つの実施形態による例示的な「組み合わせ」または「モジュール式」医療装置10を描く。本出願の目的のために、「組み合わせ装置」および「モジュール式装置」の両方は、さまざまな異なる構成で配列されることができるモジュール式または交換可能なコンポーネントを有する任意の医療装置を意味するものとする。図1A〜1Cに示される組み合わせ装置10は、互いに連結または取り付けられた3つのモジュール式コンポーネント12、14、16を有する。より具体的には、装置10は2つのロボットアームモジュール式コンポーネント12、14、および他の2つのコンポーネント12、14の間に配置された1つのロボットカメラモジュール式コンポーネント16を有する。この実施態様において、モジュール式コンポーネント16は、撮像コンポーネント(図示されていない)および1つ以上の照明コンポーネント(図示されていない)を含み、一方、他のモジュール式コンポーネント12、14の各々は、アーム24、26をそれぞれ有し、照明コンポーネントまたは撮像コンポーネントは含まない。すなわち、この実施形態において、モジュール式コンポーネント16は、モジュール式の撮像および照明コンポーネント16であり、一方、2つのモジュール式コンポーネント12、14は、モジュール式アームコンポーネント12、14である。結果として生じる構成において、コンポーネント12、14、16は、カメラコンポーネント16が2つのモジュール式アームコンポーネント12、14の間に配置されるように互いに連結または取り付けられる。下にさらに詳しく議論されるように、コンポーネント12、14、16のこの構成は、そのようなモジュール式コンポーネントのいくつかの考えられ得る構成のうちの1つに過ぎない。
の3本腕のロボットは図10に示されるような3つの1本腕セグメントを使用して組み立てられ得る。あるいは、その3本腕のロボットは、3つのモジュール式本体を端と端で結合することによって、およびアームコンポーネントをモジュール式本体の各結合に連結することによって組み立てられ得る。
本明細書中で開示される装置250の種々の実施形態が、セグメントにおいてアームおよび/または回転可能なシリンダーを作動するのに必要な力を発生するために適した作動コンポーネントを含むと理解される。1つの実施形態において、作動コンポーネントはモータである。例えば、セグメント252Aは、アーム260に作動可能に連結され、かつアーム260の移動の動力を供給するように構成されるモータ(図示されていない)を有する。同様に、セグメント252Bは、アーム262に作動可能に連結され、かつアーム260の移動の動力を供給するように構成されるモータ(図示されていない)を有する。さらなる実施形態において、セグメント252A、252B、254の各々はまた、各セグメントの内側シリンダーおよび外側シリンダーの片方または両方に作動可能に連結され、かつ互いに対するシリンダーの回転に動力を供給するモータ(図示されていない)を有する。1つの実施形態において、各セグメントは、そのセグメントに結合された全ての駆動可能な要素(アーム、シリンダーなど)に動力を供給する1つのモータを有することができる。あるいは、各駆動可能要素について、別個のモータが提供されることができる。
1つの実施形態によれば、装置は、自然開口部、ポート、または切開を通して導入されながら組み立てられる。例えば、挿入が食道を通る場合、各ロボットはオーバーチューブを下に挿入され、それは、各ロボットがオーバーチューブを「押されて」下ると一貫した組立て品のための「一列に並ぶ」能力を提供する。あるいは、腹腔内への挿入の後に、カメラおよびツールが機械的接続を支援するために挿入されることができ、または、他のロボット装置が機械的接続を手伝うために使用されることができる。
Claims (20)
- モジュール式医療装置システムであって、前記システムは、
(a)患者の腔内に配置されるように構成される第1のモジュール式コンポーネントであって、
(i)第1の本体と、
(ii)前記第1の本体に結合された第1の作動コンポーネントと、
(iii)前記第1の本体に結合された少なくとも1つの第1の連結コンポーネントと
を含む第1のモジュール式コンポーネントと、
(b)患者の腔内に配置されるように構成される第2のモジュール式コンポーネントであって、
(i)第2の本体と、
(ii)前記第2の本体に作動可能に連結される第2の作動コンポーネントと、
(iii)前記少なくとも1つの第1の連結コンポーネントと連結可能に構成される、前記第2の本体に結合される少なくとも1つの第2の連結コンポーネントと
を含む第2のモジュール式コンポーネントと
を含むモジュール式医療装置システム。 - 前記第1の作動コンポーネントが、撮像コンポーネント、作動アームコンポーネント、センサコンポーネント、および照明コンポーネントの中から選択される、請求項1に記載のシステム。
- 前記第2の作動コンポーネントが、撮像コンポーネント、作動アームコンポーネント、センサコンポーネント、および照明コンポーネントの中から選択される、請求項1に記載のシステム。
- 患者の腔内に配置されるように構成される第3のモジュール式コンポーネントであって、
(a)第3の本体と、
(b)前記第3の本体に作動可能に連結される第3の作動コンポーネントと、
(c)前記少なくとも1つの第1の連結コンポーネントおよび前記少なくとも1つの第2の連結コンポーネントと連結可能に構成される、前記第3の本体に結合される少なくとも1つの第3の連結コンポーネントと
を含む第3のモジュール式コンポーネントをさらに含む、請求項1に記載のシステム。 - 前記第3の作動コンポーネントが、撮像コンポーネント、作動アームコンポーネント、センサコンポーネント、および照明コンポーネントの中から選択される、請求項4に記載のシステム。
- 前記第1のモジュール式コンポーネントが、前記第2のモジュール式コンポーネントと前記第3のモジュール式コンポーネントとの間に配置され、前記第1の作動コンポーネントが、撮像コンポーネントを含み、前記第2の作動コンポーネントおよび前記第3の作動コンポーネントが作動アームコンポーネントを含む、請求項4に記載のシステム。
- 前記第1、第2、および第3のモジュール式コンポーネントが、実質的に三角形構成で連結され、前記第1の作動コンポーネントが、撮像コンポーネントを含み、前記第2の作動コンポーネントおよび前記第3の作動コンポーネントが、作動アームコンポーネントを含む、請求項4に記載のシステム。
- モジュール式医療装置システムであって、
(a)患者の腔内に配置されるように構成される本体と、
(b)第1の位置で前記本体に連結可能でありかつ前記患者の腔内に配置されるように構成される第1のモジュール式コンポーネントであって、第1の作動コンポーネントを含む第1のモジュール式コンポーネントと、
(c)第2の位置で前記本体に連結可能でありかつ前記患者の腔内に配置されるように構成される第2のモジュール式コンポーネントであって、第2の作動コンポーネントを含む第2のモジュール式コンポーネントと
を含むモジュール式医療装置システム。 - 第3の位置で前記本体に連結可能でありかつ前記患者の腔内に配置されるように構成される第3のモジュール式コンポーネントであって、第3の作動コンポーネントを含む第3のモジュール式コンポーネントをさらに含む、請求項8に記載のシステム。
- 第4の位置で前記本体に連結可能でありかつ前記患者の腔内に配置されるように構成される第4のモジュール式コンポーネントであって、第4の作動コンポーネントを含む第4のモジュール式コンポーネントをさらに含む、請求項9に記載のシステム。
- 前記第1、第2、第3、および第4の作動コンポーネントが、撮像コンポーネント、作動アームコンポーネント、センサコンポーネント、および照明コンポーネントの中から全て別個に選択される、請求項10に記載のシステム。
- セグメント化医療装置であって、
(a)患者の腔内に配置されるように構成される第1の本体セグメントであって、
(i)第1の外側本体と、
(ii)前記第1の外側本体内に回転可能に配置される第1の内側本体と、
(iii)前記第1の内側本体に結合される第1の作動コンポーネントと、
(iv)第1の嵌合コンポーネントを含む、前記第1の外側本体の第1端と
を含む第1の本体セグメントと、
(b)患者の腔内に配置されるように構成される第2の本体セグメントであって、
(i)第2の外側本体と、
(ii)前記第2の外側本体内に回転可能に配置される第2の内側本体と、
(iii)前記第2の内側本体に結合される第2の作動コンポーネントと、
(iv)第1の枢動連結を含み、それによって前記第2の本体セグメントが前記第1の本体セグメントに枢動可能に連結される前記第2の外側本体の第1端と
を含む第2の本体セグメントと、
(c)患者の腔内に配置されるように構成される第3の本体セグメントであって、
(i)第3の外側本体と、
(ii)前記第3の外側本体内に回転可能に配置される第3の内側本体と、
(iii)前記第3の内側本体に結合される第3の作動コンポーネントと、
(iv)第2の枢動連結を含み、それによって前記第3の本体セグメントが前記第2の本体セグメントに枢動可能に連結される前記第3の外側本体の第1端と、
(v)前記第1の嵌合コンポーネントと連結可能に構成される第2の嵌合コンポーネントを含む、前記第3の外側本体の第2端と
を含む第3の本体セグメントと
を含む、セグメント化医療装置。 - (a)前記第1の外側本体が、第1の外側開口部を含み、前記第1の内側本体が、第1の内側開口部を含み、前記第1の内側本体は前記第1の外側開口部および前記第1の内側開口部を連通して位置決めするように回転可能であり、それによって、前記第1の作動コンポーネントが接近可能であり;
(b)前記第2の外側本体が、第2の外側開口部を含み、前記第2の内側本体が、第2の内側開口部を含み、前記第2の内側本体は前記第2の外側開口部および前記第2の内側開口部を連通して位置決めするように回転可能であり、それによって、前記第2の作動コンポーネントが接近可能であり;そして
(c)前記第3の外側本体が、第3の外側開口部を含み、前記第3の内側本体が、第3の内側開口部を含み、ここで、前記第3の内側本体は前記第3の外側開口部および前記第3の内側開口部を連通して位置決めするように回転可能であり、それによって、前記第3の作動コンポーネントが接近可能である、請求項12に記載の装置。 - (a)前記第1の外側本体の内部が、前記第1の外側開口部と前記第1の内側開口部が連通していない場合に流体的に密封されるように構成され;
(b)前記第2の外側本体の内部が、前記第2の外側開口部と前記第2の内側開口部が連通していない場合に流体的に密封されるように構成され;そして
(c)前記第3の外側本体の内部が、前記第3の外側開口部と前記第3の内側開口部が連通していない場合に流体的に密封されるように構成される、請求項13に記載の装置。 - 前記第1および第2の枢動連結に結合される力機構であって、前記第1および第2の嵌合コンポーネントを一緒にさせる力機構をさらに含む、請求項12に記載の装置。
- 前記力機構が、前記第1の枢動連結に作動可能に連結される第1バネコンポーネント、および前記第1の枢動連結に作動可能に連結される第2バネコンポーネントを含む、請求項15に記載の装置。
- 前記第1、第2、および第3の作動コンポーネントが、撮像コンポーネント、作動アームコンポーネント、センサコンポーネント、および照明コンポーネントの中から全て別個に選択される、請求項12に記載の装置。
- (a)前記第1の作動コンポーネントが、第1の作動アームコンポーネントを含み;
(b)前記第2の作動コンポーネントが、照明コンポーネントおよび撮像コンポーネントを含み;そして
(c)前記第3の作動コンポーネントが、第2の作動アームコンポーネントを含む、請求項12に記載の装置。 - 前記第1の作動アームコンポーネントが、焼灼器を含み、前記第2の作動アームコンポーネントが、把持器を含む、請求項18に記載の装置。
- (a)請求項12に記載されるセグメント化医療装置であって、
(i)撮像コンポーネントと、
(ii)作動アームコンポーネントと、
(iii)少なくとも1つの装置の磁石と
を含むセグメント化医療装置と、
(b)患者の腔の外側に位置決めされるように構成される外部視覚化コントローラであって、
(i)前記撮像コンポーネントと通信する画像表示コンポーネントと、
(ii)前記作動アームコンポーネントと通信する少なくとも1つのアームコントローラコンポーネントと、
(iii)前記少なくとも1つの装置の磁石と磁気的に結合するように構成される少なくとも1つの外部磁石と
を含む外部視覚化コントローラと
を含む医療システム。
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US95603207P | 2007-08-15 | 2007-08-15 | |
US60/956,032 | 2007-08-15 | ||
US99010607P | 2007-11-26 | 2007-11-26 | |
US99007607P | 2007-11-26 | 2007-11-26 | |
US60/990,076 | 2007-11-26 | ||
US60/990,106 | 2007-11-26 | ||
US2534608P | 2008-02-01 | 2008-02-01 | |
US61/025,346 | 2008-02-01 | ||
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US8974440B2 (en) | 2015-03-10 |
EP2178456B1 (en) | 2018-10-31 |
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EP2178456A1 (en) | 2010-04-28 |
EP2178456A4 (en) | 2016-07-20 |
CA2695619A1 (en) | 2009-02-19 |
US20090048612A1 (en) | 2009-02-19 |
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