JP2015528713A - 手術ロボットプラットフォーム - Google Patents
手術ロボットプラットフォーム Download PDFInfo
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- JP2015528713A JP2015528713A JP2015518631A JP2015518631A JP2015528713A JP 2015528713 A JP2015528713 A JP 2015528713A JP 2015518631 A JP2015518631 A JP 2015518631A JP 2015518631 A JP2015518631 A JP 2015518631A JP 2015528713 A JP2015528713 A JP 2015528713A
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Abstract
Description
本出願は、米国特許法第119条に基づいて、2012年6月21日に出願された米国仮特許出願第61/662,702号明細書および2013年3月15日に出願された米国仮特許出願第61/800,527号明細書に対する優先権を主張し、それらは、全体として参照により本明細書に組み込まれる。
Claims (27)
- 医療ロボットシステムであって、
エフェクタ要素に結合されたロボットであって、制御されて移動し位置決めされるように構成されたロボットと、
1つまたは複数の信号を発するように構成された少なくとも1つの送信器であって、前記エフェクタ要素に結合された器具に結合されている少なくとも1つの送信器と、
前記ロボットに結合されたモータアセンブリであって、前記エフェクタ要素をx軸、y軸およびz軸のうちの1つまたは複数に沿って移動させ、その際、前記x軸、前記y軸または前記z軸のうちの1つに沿った前記エフェクタ要素の移動が、前記x軸、前記y軸および前記z軸のうちの他の軸に沿った前記エフェクタ要素の移動とは独立して発生するように構成され、前記x軸が前記y軸および前記z軸に対して実質的に垂直であり、前記y軸が前記x軸および前記z軸に対して実質的に垂直であり、前記z軸が前記x軸および前記y軸に対して実質的に垂直である、モータアセンブリと、
前記少なくとも1つの送信器によって発せられる前記1つまたは複数の信号を受信するように構成された複数の受信器と、
前記モータアセンブリおよび前記複数の受信器に結合された制御ユニットであって、前記モータアセンブリに1つまたは複数の命令信号を供給するように構成され、前記命令信号が、前記モータアセンブリに対して、前記エフェクタ要素を前記x軸、前記y軸および前記z軸のうちの少なくとも1つに沿って選択的に移動させるように構成され、前記制御ユニットが、(i)前記複数の受信器によって受信される前記信号の分析により前記少なくとも1つの送信器の位置を計算し、(ii)前記患者の身体に対する前記少なくとも1つの送信器の位置を表示し、(iii)前記複数の受信器によって受信される前記信号に応じて、前記モータアセンブリの作動を選択的に制御するようにさらに構成されている、制御ユニットと、
を備えるシステム。 - 前記エフェクタ要素がチューブを備え、前記チューブが、ピッチ軸、ロール軸および前記チューブの回転軸を定義するチューブ軸を有する、請求項1に記載のシステム。
- 前記エフェクタ要素が針を備える、請求項1に記載のシステム。
- 前記複数の受信器が少なくとも3つの受信器を含む、請求項1に記載のシステム。
- 前記制御ユニットが、前記複数の受信器から反復的に情報を受け取るように適合される、請求項1に記載のシステム。
- 前記制御ユニットが、前記複数の受信器から動的に情報を受け取るように適合される、請求項1に記載のシステム。
- 前記制御ユニットが、ユーザが、前記患者の体内の所望の位置を選択するのを可能にし、かつ前記モータアセンブリが前記エフェクタ要素を前記所望の位置まで移動させるのを可能にする情報を動的に提供するように適合される、請求項1に記載のシステム。
- 前記制御ユニットが、特別に構成されたコンピュータを含む、請求項1に記載のシステム。
- 前記少なくとも1つの送信器が、前記制御ユニットに動作可能に結合され、前記制御ユニットが、前記少なくとも1つの送信器に対して1つまたは複数の選択された時点で信号を発するように構成される、請求項1に記載のシステム。
- 前記制御ユニットが、前記少なくとも1つの送信器に対して選択された周波数で信号を発するように適合される、請求項1に記載のシステム。
- 前記複数の送信器が少なくとも3つの送信器を含む、請求項1に記載のシステム。
- 前記エフェクタ要素が外面を有し、複数の送信器が、前記エフェクタ要素の外面の周囲に半径方向に間隔を空けて配置される、請求項1に記載のシステム。
- 前記エフェクタ要素の遠位端が前縁を画定し、前記複数の送信器のうちの少なくとも1つが、前記エフェクタ要素の前記前縁に位置する、請求項1に記載のシステム。
- 医療ロボットシステムであって、
エフェクタ要素に結合されたロボットであって、制御されて移動し位置決めされるように構成されたロボットと、
1つまたは複数の信号を発するように構成された少なくとも1つの送信器であって、前記エフェクタ要素に結合されている少なくとも1つの送信器と、
前記ロボットに結合されたモータアセンブリであって、前記エフェクタ要素をx軸、y軸およびz軸のうちの1つまたは複数に沿って移動させ、その際、前記x軸、前記y軸または前記z軸のうちの1つに沿った前記エフェクタ要素の移動が、前記x軸、前記y軸および前記z軸のうちの他の軸に沿った前記エフェクタ要素の移動とは独立して発生するように構成され、前記x軸が前記y軸および前記z軸に対して実質的に垂直であり、前記y軸が前記x軸および前記z軸に対して実質的に垂直であり、前記z軸が前記x軸および前記y軸に対して実質的に垂直である、モータアセンブリと、
前記少なくとも1つの送信器によって発せられる前記1つまたは複数の信号を受信するように構成された複数の受信器と、
前記モータアセンブリおよび前記複数の受信器に動作可能に結合された制御ユニットであって、前記エフェクタ要素を前記x軸、前記y軸および前記z軸のうちの少なくとも1つに沿って選択的に移動させるように、前記モータアセンブリを動作可能に制御するように構成され、(i)前記複数の受信器によって受信される前記信号の分析により前記少なくとも1つの送信器の位置を計算し、(ii)前記患者の身体に対する前記少なくとも1つの送信器の位置を表示し、(iii)前記エフェクタ要素またはそれに結合された器具の所望の軌道の選択を可能にし、(iv)前記複数の受信器によって受信される前記信号に応じて、前記所望の軌道選択に基づいて前記モータアセンブリの作動を選択的に制御するようにさらに構成されている制御ユニットと、
を備える医療ロボットシステム。 - 前記所望の軌道を、前記システムから独立したコンピュータデバイスで選択することができる、請求項14に記載のシステム。
- 前記コンピュータデバイスが、タブレットコンピュータ、ラップトップコンピュータおよびスマートフォンのうちの少なくとも1つを含む、請求項15に記載のシステム。
- 前記エフェクタ要素が、前記器具を結合することができるチューブを備える、請求項14に記載のシステム。
- 前記複数の受信器が少なくとも3つの受信器を含む、請求項14に記載のシステム。
- 前記制御ユニットが、前記複数の受信器から反復的に情報を受け取るように適合される、請求項14に記載のシステム。
- 前記制御ユニットが、前記複数の受信器から動的に情報を受け取るように適合される、請求項14に記載のシステム。
- 前記制御ユニットが、ユーザが、前記患者の体内の所望の位置を選択するのを可能にし、かつ前記モータアセンブリが前記エフェクタ要素を前記所望の位置まで移動させるのを可能にする情報を動的に提供するように適合される、請求項14に記載のシステム。
- 前記制御ユニットが、特別に構成されたコンピュータを含む、請求項14に記載のシステム。
- 前記少なくとも1つの送信器が、前記制御ユニットに動作可能に結合され、前記制御ユニットが、前記少なくとも1つの送信器に対して1つまたは複数の選択された時点で信号を発するように構成される、請求項14に記載のシステム。
- 前記制御ユニットが、前記少なくとも1つの送信器に対して選択された周波数で信号を発するように適合される、請求項14に記載のシステム。
- 前記複数の送信器が少なくとも3つの送信器を含む、請求項14に記載のシステム。
- 前記エフェクタ要素が外面を有し、複数の送信器が、前記エフェクタ要素の外面の周囲に半径方向に間隔を空けて配置される、請求項14に記載のシステム。
- 前記エフェクタ要素の遠位端が前縁を画定し、前記複数の送信器のうちの少なくとも1つが、前記エフェクタ要素の前記前縁に位置する、請求項14に記載のシステム。
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