JP2014531219A - ロボット手術デバイス、システム、及び関連方法 - Google Patents
ロボット手術デバイス、システム、及び関連方法 Download PDFInfo
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- H04L41/00—Arrangements for maintenance, administration or management of data switching networks, e.g. of packet switching networks
- H04L41/06—Management of faults, events, alarms or notifications
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- A61B90/30—Devices for illuminating a surgical field, the devices having an interrelation with other surgical devices or with a surgical procedure
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0084—Programme-controlled manipulators comprising a plurality of manipulators
- B25J9/0087—Dual arms
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- A61B90/36—Image-producing devices or illumination devices not otherwise provided for
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10S901/00—Robots
- Y10S901/19—Drive system for arm
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Abstract
Description
しかしながら、腹腔鏡手術等の既知の低侵襲性技術は、部分的には、1)アクセスポートから挿入された柔軟性のないツールが使用されるため運動性が制限されること、及び2)目視によるフィードバックが制限されることにより、適用範囲及び複雑性の点で制限がある。また、da Vinci(登録商標)手術システム(カリフォルニア州サニーベールにあるIntuitive Surgical,Inc.社から入手可能)等の既知のロボットシステムは、アクセスポートの制限を受けているだけでなく、非常に大型であり、非常に高価であり、ほとんどの病院で導入されておらず、知覚及び運動性能も制限されているという欠点を備えてもいる。
a.支持ビームと、
b.患者内に完全に位置決めされる大きさのモジュール式ロボットデバイスであって、
i.第1ベースユニット、
ii.第1回転ショルダー部品、
iii.前記第1ショルダー部品により前記第1ベースユニットに作動可能に接続された第1可動セグメント化ロボットアーム、
iv.前記第1ロボットアームに作動可能に接続された第1操作部品、
v.第2ベースユニット、
vi.第2回転ショルダー部品、
vii.前記第2ショルダー部品により前記第2ベースユニットに作動可能に接続された第2可動セグメント化ロボットアーム、及び
viii.前記第2ロボットアームに作動可能に接続された第2操作部品を
更に備えるモジュール式ロボットデバイスと、
c.接続部品を更に備える、前記第1ベースユニットと接続するための第1支持ロッドと、
d.前記第2ベースユニットと接続するための、接続部品を更に備える第2支持ロッドと
を備え、前記第1及び第2接続部品が、前記患者の体腔内で前記第1及び第2ベースユニットと作動可能に結合され、前記第1及び第2支持ロッドが、前記患者の外部に伸長する前記支持ビームと結合されているシステムが提供される。
Claims (20)
- モジュール式手術ロボットシステムであって、
a.支持ビームと、
b.患者内に完全に位置決めされる大きさのモジュール式ロボットデバイスであって、
i.第1ベースユニット、
ii.第1回転ショルダー部品、
iii.前記第1ショルダー部品により前記第1ベースユニットに作動可能に接続された第1可動セグメント化ロボットアーム、
iv.前記第1ロボットアームに作動可能に接続された第1操作部品、
v.第2ベースユニット、
vi.第2回転ショルダー部品、
vii.前記第2ショルダー部品により前記第2ベースユニットに作動可能に接続された第2可動セグメント化ロボットアーム、及び
viii.前記第2ロボットアームに作動可能に接続された第2操作部品を
更に備えるモジュール式ロボットデバイスと、
c.接続部品を更に備える、前記第1ベースユニットと接続するための第1支持ロッドと、
d.前記第2ベースユニットと接続するための、接続部品を更に備える第2支持ロッドと
を備え、前記第1及び第2接続部品が、前記患者の体腔内で前記第1及び第2ベースユニットと作動可能に結合され、前記第1及び第2支持ロッドが、前記患者の外部に伸長する前記支持ビームと結合されているシステム。 - 前記モジュール式ロボットデバイスが、前記患者の体腔内で組み立て可能である、請求項1に記載のモジュール式手術ロボットシステム。
- 患者の体腔壁を横切って配置され、前記支持ビーム及び支持ロッドが貫通する流体密封ポートを更に備える、請求項1に記載のモジュール式手術ロボットシステム。
- 前記第1操作部品が、把持部品、焼灼部品、縫合部品、撮影部品、操作アーム部品、センサ部品、及び照明部品からなる群から選択される、請求項1に記載のモジュール式手術ロボットシステム。
- 前記第2操作部品が、把持部品、焼灼部品、縫合部品、撮影部品、操作アーム部品、センサ部品、及び照明部品からなる群から選択される、請求項1に記載のモジュール式手術ロボットシステム。
- 前記第1ショルダー、前記第2ショルダー、前記第1セグメント化アーム、前記第2セグメント化アーム、前記第1操作部品、及び前記第2操作部品の少なくとも1つを操作、回転、又は移動させるための1つ又は複数のモータを更に備える、請求項1に記載のモジュール式手術ロボットシステム。
- 前記少なくとも1つのモータが、前記第1ベースユニット、前記第2ベースユニット、前記第1ショルダー、前記第2ショルダー、前記第1セグメント化アーム、前記第2セグメント化アーム、前記第1操作部品、前記第2操作部品、及び前記支持ビームからなる群内に収容される、請求項7に記載のモジュール式手術ロボットシステム。
- 前記第1及び第2操作部品が、前記第1及び第2セグメント化アームに対して回転する、請求項1に記載のモジュール式手術ロボットシステム。
- 前記第1及び第2セグメント化アームが関節運動可能である、請求項1に記載のモジュール式手術ロボットシステム。
- 前記接続部品を収容するための、前記支持ロッドの少なくとも一方の内に配置されている少なくとも1つの管腔を更に備える、請求項1に記載のモジュール式手術ロボットシステム。
- 前記患者の腔の外側に位置決めされるように構成された外部コントローラを更に備え、前記外部コントローラが、接続部品を介して前記第1及び第2モジュール式部品の少なくとも一方に作動可能に接続されている、請求項1に記載のモジュール式手術ロボットシステム。
- ピン、ロッド、支柱、アイアンインターン(iron intern)、関節部、及び脚部からなる群から選択される前記支持ロッドの少なくとも1つに取付けられた1つ又は複数の外部支持部品を更に備える、請求項1に記載のモジュール式手術ロボットシステム。
- モジュール式手術ロボットシステムであって、
a.患者内に完全に位置決めされる大きさのモジュール式ロボットデバイスであって、
i.第1ベースユニット、
ii.第1回転ショルダー部品、
iii.前記第1ショルダー部品により前記第1ベースユニットに作動可能に接続された第1可動セグメント化ロボットアーム、
iv.前記第1ロボットアームに作動可能に接続された第1操作部品、
v.第2ベースユニット、
vi.第2回転ショルダー部品、
vii.前記第2ショルダー部品により前記第2ベースユニットに作動可能に接続された第2可動セグメント化ロボットアーム、及び
viii.前記第2ロボットアームに作動可能に接続された第2操作部品を更に備えるモジュール式ロボットデバイスと、
b.管腔を更に備える支持ビームと、
c.患者の体腔壁を横切って配置され、前記支持ビームが貫通する流体密封ポートと、
d.前記第1及び第2ベースユニットの少なくとも一方に作動可能に結合された遠位端部と
を備える、前記支持ビーム管腔を通して配置される少なくとも1つの接続部品を備えるシステム。 - 前記モジュール式ロボットデバイスが、前記患者の体腔内で組み立て可能である、請求項14に記載のモジュール式手術ロボットシステム。
- 前記第1ショルダー、前記第2ショルダー、前記第1セグメント化アーム、前記第2セグメント化アーム、前記第1操作部品、及び前記第2操作部品の少なくとも1つを操作、回転、又は移動させるための1つ又は複数のモータを更に備える、請求項14に記載のモジュール式手術ロボットシステム。
- 前記少なくとも1つのモータが、前記第1ベースユニット、前記第2ベースユニット、前記第1ショルダー、前記第2ショルダー、前記第1セグメント化アーム、前記第2セグメント化アーム、前記第1操作部品、前記第2操作部品、及び前記支持ビームからなる群内に収容される、請求項17に記載のモジュール式手術ロボットシステム。
- 前記第1及び第2操作部品が、把持部品、焼灼部品、縫合部品、撮影部品、操作アーム部品、センサ部品、及び照明部品からなる群から選択される、請求項14に記載のモジュール式手術ロボットシステム。
- 前記第1及び第2セグメント化アームが関節運動可能である、請求項14に記載のモジュール式手術ロボットシステム。
- 前記患者の腔の外側に位置決めされるように構成されている外部コントローラを更に備え、前記外部コントローラが、接続部品を介して前記第1及び第2モジュール式部品の少なくとも一方に作動可能に結合されている、請求項14に記載のモジュール式手術ロボットシステム。
- 低侵襲手術を実施するための方法であって、
a.
i.第1ベースユニット、
ii.1つ又は複数のセグメントを有する第1ロボットアーム、
iii.前記本体と前記第1ロボットアームとの間に配置された第1肩関節、
iv.前記第1アームと作動可能に結合された第1操作部品、
v.第2ベースユニット、
vi.1つ又は複数のセグメントを有する第2ロボットアーム、
vii.前記本体と前記第2ロボットアームとの間に配置された第2肩関節、及び
viii.前記第2アームと作動可能に結合された第2操作部品を含む、患者内に挿入される大きさのモジュール式手術ロボットシステムを準備すること、
b.支持ビームを準備すること、
c.前記本体に作動可能に結合された遠位端部を備え、少なくとも1つの支持ロッドを介して配置された少なくとも1つの接続部品を更に備える少なくとも1つの支持ロッドを準備すること、
d.前記患者の体内に前記モジュール式手術ロボットシステム部品を挿入すること、
e.前記モジュール式手術ロボットシステムを前記患者の体内で組み立て、前記システムを、使用するために前記支持ロッド及び支持ビームに取付けること、及び
f.患者の体腔壁を横切って配置され、前記支持ビーム及び支持ロッドが貫通する流体密封ポートを準備することを含む方法。
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US201161506384P | 2011-07-11 | 2011-07-11 | |
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PCT/US2012/046274 WO2013009887A1 (en) | 2011-07-11 | 2012-07-11 | Robotic surgical devices, systems and related methods |
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JP2019005629A (ja) | 2019-01-17 |
US20160015461A1 (en) | 2016-01-21 |
JP6419875B2 (ja) | 2018-11-07 |
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