JP2014239923A - ロボット手術のためのモジュールマニピュレーター支持体 - Google Patents
ロボット手術のためのモジュールマニピュレーター支持体 Download PDFInfo
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Abstract
【解決手段】ロボット手術システムは、取り付けベース、複数の手術器具、および関節支持体アセンブリ30を備える、各器具は、関連する最小侵襲的アパーチャを通って患者中に、所望の内部手術部位まで挿入可能である。関節支持体アセンブリは、ベースに対して複数の器具を移動可能に支持する。支持体は、一般に、配向プラットホーム36、この配向プラットホームをベースに移動可能に支持するプラットホームリンケージ、および配向プラットホームに取り付けられる複数のマニピュレーター32,34を備え、ここで、各マニピュレーターは、付随する器具を移動可能に支持する。
【選択図】図5−1
Description
本発明は、一般に、医療用、手術用、および/またはロボットデバイスおよびシステムに関する。例示の実施形態では、本発明は、手術用器具を移動するためのマニピュレーターのようなロボットマニピュレーター、内視鏡またはその他の画像チャプチャーデバイスを支持し、そしてそれらを患者身体中の所望の手術部位と整列するための改良された構造物を有する最小侵襲的ロボット手術システムを提供する。
本発明は、一般に、医療用、手術用、そして/またはロボットデバイスおよびシステムに関する。多くの実施形態では、本発明は、手術用器具を移動するためのマニピュレーターのようなロボットマニピュレーター、内視鏡またはその他の画像チャプチャーデバイスを支持し、そしてそれらを患者身体中の所望の手術部位と整列するための改良された構造物を有する最小侵襲的ロボット手術システムを提供する。改良されたモジュールマニピュレーター支持体は、いくつかの利点を提供し得、これには、増大された操縦性、手術室における改良されたスペース利用、より迅速およびより容易なセットアップ、使用の間のロボットデバイス間の衝突防止、および/またはこれら新たな手術システムの低減された機械的複雑さ、およびサイズが含まれる。このような利点は、次いで、このようなロボット手術システムの使用の有効性および容易さを増大する。
より特定すれば、本願発明は以下の項目に関し得る。
(項目1)
ロボット手術システムであって:
取り付けベース;
複数の手術器具であって、各器具が付随する関連侵襲アパーチャを通じて患者中に挿入可能である複数の手術器具;
上記複数の器具を上記ベースに対して移動可能に支持する関節支持体アセンブリを備え、
上記アセンブリが:
配向プラットホーム;
上記配向プラットホームを上記ベースに対して移動可能に支持するプラットホームリンケージ;および
上記配向プラットホームに取り付けられる複数のマニピュレーターであって、各マニピュレーターが付随する器具を移動可能に支持する複数のマニピュレーターを備える、システム。
(項目2)
上記取り付けベースが、上記関節支持体アセンブリが上記ベースからほぼ下方に延びることを許容するような天井で支持される構造物を備える、項目1に記載のシステム。
(項目3)
上記プラットホームリンケージが、直線状レール、上記レールに連結可能であるスライド可能なキャリッジ、および近位端上の上記キャリッジおよび遠位端上の上記配向プラットホームに回転可能に連結可能な少なくとも1つのアームを備える、項目1に記載のシステム。
(項目4)
上記プラットホームリンケージが、上記配向プラットホームの三次元並進を収容する、項目3に記載のシステム。
(項目5)
上記プラットホームリンケージが、上記配向プラットホームの1つの軸の周りの回転を収容する、項目3に記載のシステム。
(項目6)
上記配向プラットホームに連結可能な複数のアームをさらに備え、各アームが、付随するマニピュレーターを移動可能に支持し、そして予備配置可能である離脱可能に固定可能なリンクおよびジョイントを規定する、項目1に記載のシステム。
(項目7)
上記配向プラットホームが、上記複数のアームに回転可能に連結可能な4つのハブ、および上記プラットホームリンケージに連結可能な第5のハブを備え、上記第5のハブが旋回点と整列され、そして上記旋回点の周りの上記配向プラットホームの回転を収容する、項目6に記載のシステム。
(項目8)
各アームが、上記固定可能なリンクおよびジョイントの一次元の並進を収容する、項目6に記載のシステム。
(項目9)
各アームが、上記固定可能なリンクおよびジョイントの2つまたは3つの軸の周りの回転を収容する、項目6に記載のシステム。
(項目10)
各アームが、4を超えない自由度を有する、項目6に記載のシステム。
(項目11)
上記システムが、器具マニピュレーターを移動可能に支持するための3つのアーム、および画像キャプチャーデバイスマニピュレーターを移動可能に支持するための1つアームを備える、項目6に記載のシステム。
(項目12)
少なくとも1つのアームが、一対の隣接する固定可能な回転ジョイント間に延びる、少なくとも1つのバランスされた固定可能な接続された平衡四辺形リンケージ構造を含み、上記接続された構造がほぼ垂直方向にある移動を収容し、そして上記隣接する回転ジョイントが垂直軸の周りの旋回移動を収容する、項目6に記載のシステム。
(項目13)
上記関節支持体アセンブリに連結されたブレーキシステムをさらに備え、上記ブレーキシステムが、先に少なくとも実質的に固定された形態に配置された上記固定可能なリンクの関節運動を離脱可能に阻害し、上記ブレーキシステムが上記固定された形態に向かって付勢され、上記ブレーキシステムが、上記固定可能なリンクおよびジョイントを、上記固定可能なリンクおよびジョイントが関節運動され得る再位置決め可能な形態に解放するためにブレーキ解放アクチュエーターを含む、項目6に記載のシステム。
(項目14)
複数の上記固定可能なリンクおよびジョイントをサーボ機構に連結するジョイントセンサーシステムをさらに備え、上記センサーシステムがジョイント配置信号を生成し、上記サーボ機構がコンピューターを含み、そして上記ジョイントセンサーシステムが上記ジョイント配置信号を上記コンピューターに伝達する、項目6に記載のロボットシステム。
(項目15)
上記コンピューターが、上記取り付けベースに対して固定された参照座標系と、上記ジョイント配置信号を用いる器具との間の座標系変換を算出する、項目14に記載のロボットシステム。
(項目16)
少なくとも1つのマニピュレーターが、マニピュレーターベースが水平に対して固定された角度にあるように機械的に拘束される、項目1に記載のシステム。
(項目17)
上記少なくとも1つのマニピュレーターが、約45゜から約50゜までの範囲で水平に対して角度がオフセットされている、項目16に記載のシステム。
(項目18)
上記少なくとも1つのマニピュレーターが、約15゜だけ水平に対して角度がオフセットされている、項目16に記載のシステム。
(項目19)
上記少なくとも1つのマニピュレーターが、約65゜から約75゜までの範囲で水平に対して角度がオフセットされている、項目16に記載のシステム。
(項目20)
上記少なくとも1つのマニピュレーターが、スペース中の旋回点の周りで上記器具の球旋回を拘束するためのオフセット遠隔リンケージを備える、項目16に記載のシステム。
(項目21)
上記オフセット遠隔中心マニピュレーターが、第1の軸の周りの回転のために平行四辺形リンケージベースに回転可能に連結されるマニピュレーターベースを有する関節リンケージアセンブリを備える項目20に記載のシステムであって、上記平行四辺形リンケージベースが複数の駆動されたリンクおよびジョイントによって器具ホルダーに連結され、上記器具が上記器具ホルダーに取り付けられ、そして上記シャフトが少なくとも1つの自由度で移動されるとき、上記駆動されたリンクおよびジョイントが上記器具の細長いシャフトを旋回点に対して拘束するように平行四辺形を規定し、ここで、上記第1の軸および上記平行四辺形リンケージベースに隣接する上記平行四辺形の第1の辺が上記旋回点で上記シャフトと交差し、そして上記平行四辺形の第1の辺が上記第1の軸から角度がオフセットされる、システム。
(項目22)
上記配向プラットホームに連結可能なディスプレイをさらに備える、項目1に記載のシステム。
(項目23)
上記ディスプレイが、相互作用モニターを備える、項目22に記載のシステム。
(項目24)
ロボット手術システムにおける使用のためのモジュールマニピュレーター支持体であって、上記システムが、取り付けベース、複数の手術器具、および組織を操作するように付随する器具を移動するための駆動されたリンクおよびジョイントを規定する複数のマニピュレーターを備え、上記ベースに対して上記マニピュレーターを移動可能に支持および位置決めするための上記支持体が:
上記取り付けベースに連結可能な配向プラットホーム;および
上記配向プラットホームに連結可能な複数のアームであって、各アームが付随するマニピュレーターを移動可能に支持し、そして予備配置可能である離脱可能に固定可能なリンクおよびジョイントを規定する、支持体。
(項目25)
ロボット手術システムであって:
天井高さ取り付けベース;
複数の手術器具;
上記複数の器具を上記ベースに対して移動可能に支持する関節支持体アセンブリであって、上記アセンブリが:
上記関節支持体アセンブリが上記ベースからほぼ下方に延びることを許容するように上記ベースに連結可能な配向プラットホーム;
上記配向プラットホームに連結可能な複数のアームであって、各アームが予備配置可能である離脱可能に固定可能なリンクおよびジョイントを規定する複数のアーム;および
上記複数のアームに連結可能な複数のマニピュレーターであって、各マニピュレーターが組織を操作するように上記複数の器具を移動するために駆動されたリンクおよびジョイントを規定する複数のマニピュレーターを備える、システム。
(項目26)
取り付けベース、複数の手術器具、および上記複数の器具を上記ベースに対して移動可能に支持する関節支持体アセンブリを有するロボット手術システムを調製するための方法であって:
配向プラットホームを、上記配向プラットホームに取り付けられた複数のマニピュレーター予備位置決めするために、上記配向プラットホームを移動可能に支持するプラットホームリンケージを上記ベースに対して、上記複数のマニピュレーターによって支持される手術器具が関連する最小侵襲的アパーチャに向かって配向されるように関節運動することによって移動する工程を包含する、方法。
(項目27)
上記移動する工程が、上記配向プラットホームを三次元で並進することを包含する、項目26に記載の方法。
(項目28)
上記移動する工程が、1つの軸の周りで上記配向プラットホームを回転することを含む、項目26に記載の方法。
(項目29)
上記配向プラットホームに連結可能な複数のアームを関節運動することによって、上記複数のマニピュレーターを移動する工程をさらに包含する、項目26に記載の方法。
(項目30)
上記プラットホームリンケージ、配向プラットホーム、またはアームを、さらなる関節運動を防ぐようにブレーキシステムで拘束する工程をさらに包含する、項目30に記載の方法。
図1〜4は、米国特許第6,246,200号により詳細に記載されている、最小侵襲的ロボット手術を実施するためのロボット手術システム1を示す。操作者O(一般に外科医)は、手術テーブルT上に横たわる患者Pに対して最小侵襲的手術手順を実施し、操作者Oは、外科医のコンソール3で1つ以上の入力デバイスまたはマスター2を操作する。この外科医の入力に応答して、コンソール3のコンピュータープロセッサ4は、内視鏡手術器具またはツール5の動きを取り扱い、ロボット患者側システム6(この例では、カートに載せられたシステム)を経由してこれら器具のサーボ機械的移動を行う。
Claims (1)
- 図5Aに記載のモジュールマニピュレーター支持体アセンブリ。
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