JP2016513500A - 外科環境で器具の屈曲を促進するための方法、装置およびシステム - Google Patents
外科環境で器具の屈曲を促進するための方法、装置およびシステム Download PDFInfo
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/005—Flexible endoscopes
- A61B1/0051—Flexible endoscopes with controlled bending of insertion part
- A61B1/0055—Constructional details of insertion parts, e.g. vertebral elements
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/005—Flexible endoscopes
- A61B1/0051—Flexible endoscopes with controlled bending of insertion part
- A61B1/0055—Constructional details of insertion parts, e.g. vertebral elements
- A61B1/0056—Constructional details of insertion parts, e.g. vertebral elements the insertion parts being asymmetric, e.g. for unilateral bending mechanisms
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M25/00—Catheters; Hollow probes
- A61M25/01—Introducing, guiding, advancing, emplacing or holding catheters
- A61M25/0105—Steering means as part of the catheter or advancing means; Markers for positioning
- A61M25/0133—Tip steering devices
- A61M25/0138—Tip steering devices having flexible regions as a result of weakened outer material, e.g. slots, slits, cuts, joints or coils
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M25/00—Catheters; Hollow probes
- A61M25/01—Introducing, guiding, advancing, emplacing or holding catheters
- A61M25/0105—Steering means as part of the catheter or advancing means; Markers for positioning
- A61M25/0133—Tip steering devices
- A61M25/0147—Tip steering devices with movable mechanical means, e.g. pull wires
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
- A61B2017/00292—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery mounted on or guided by flexible, e.g. catheter-like, means
- A61B2017/003—Steerable
- A61B2017/00305—Constructional details of the flexible means
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B2034/301—Surgical robots for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B2034/305—Details of wrist mechanisms at distal ends of robotic arms
- A61B2034/306—Wrists with multiple vertebrae
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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
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- Y10T74/00—Machine element or mechanism
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- Y10T74/20207—Multiple controlling elements for single controlled element
- Y10T74/20305—Robotic arm
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Abstract
Description
本願は、2013年3月8日に出願された米国仮出願第61/774,901号(代理人事件番号第41663−707.101)および2014年3月7日に出願された米国出願第14/201,610号(代理人事件番号第41663−707.201)に基づく利益を主張しており、これらの内容は本明細書中に参考として援用される。
(1.発明の分野)
本願の分野は、医療デバイスに関する。より具体的には、本発明の分野は、外科手術を実施するための装置、システム、および方法に関する。
ロボット的外科手術が、患者の回復時間を改善する多くの利点を有し、医療および外科的用途器具の精密制御を可能にする。ロボット工学では、エンドエフェクタは、ロボットのアームの端部におけるデバイスであり、環境と相互作用するように設計される。このデバイスの正確な特質は、ロボットの用途に依存する。例えば、エンドエフェクタのいくつかの実施例は、一式の鉗子、一対の剪刀、レーザ、カメラ、焼灼ツール、ニードル、または再位置付けされることが可能であることから利点を得るであろう任意の他の器具の先端部を含み得る。
本明細書に説明される実施形態は、製造する容易性を維持しながら、大きな関節運動度での器具の屈曲のための方法、装置、およびシステムを対象とする。
エンドエフェクタにおける作動を発生させるための引張ワイヤと、
照射、レーザ、および視覚のためのファイバと、
空気力学および/または水力学と、
電線と、
作業チャネルのための開放管腔(開放アーキテクチャデバイス、エンドエフェクタが作業チャネルを通され、そして交換可能である、)と、
エンドエフェクタを支持する伸縮自在管と、
のうちの任意または全てを含み得る。
Claims (7)
- 非侵襲的医療手技において使用するためのツールを搬送する屈曲区分であって、
略円筒状外周を有するロッドと、
前記ロッドの長さに沿った上部と、
前記ロッドの長さに沿った底部であって、材料が、前記底部に沿って前記円筒状ロッドから除去される、底部と、
前記ロッドの全体を通る非円筒状経路と、
前記ロッドの長さに沿って複数の第2の区分に交互に隣接する複数の第1の区分であって、材料が、前記複数の第1の区分から除去され、部分的空隙が前記ロッドの上部に沿って前記ロッドの屈曲を可能にするように、前記複数の第2の区分に隣接して複数の前記部分的空隙を形成する、複数の第1の区分と、
を備え、前記非円筒状経路は、前記円筒状ロッドの長さに沿って中立軸に近接する少なくとも1つの補助的構成要素と、前記ロッドの長さに沿って前記上部に近接して軸外作動ワイヤとを搬送することが可能である、屈曲区分。 - 器具の屈曲を促進する装置であって、
非円筒状管腔を伴うロッドを備え、
前記ロッドは、前記ロッドの管腔の第1の断面形状および第2の断面形状を伴い、
前記第1の断面形状は、屈曲を促進し、作動ワイヤを収容するように構成され、
前記第2の断面形状は、少なくとも1つの補助的構成要素が中立軸に近接するように促進する、
装置。 - 前記非円筒状管腔は、前記補助的構成要素および作動ワイヤを収容する、接合された二重楕円形状管腔である、請求項2に記載の装置。
- 前記ロッドの材料の断面は、一定の壁厚を用いて可能であるものと比較して、増加される剛性支持を促進する、請求項2に記載の装置。
- 器具の屈曲を促進する装置であって、
非円筒状管腔を伴うロッドを備え、
前記ロッドは、屈曲を促進し、作動ワイヤを収容するために、前記ロッドの第1の断面および第2の断面を伴い、
前記非円筒状経路は、少なくとも1つの補助的構成要素が中立軸に近接するように促進し、前記装置は、エンドエフェクタに結合される、
装置。 - 前記非円筒状経路は、前記補助的構成要素および作動ワイヤを収容する、二重楕円形状管腔を含む、請求項5に記載の装置。
- 前記第2の断面は、前記第1の断面と比較して、増加される剛性支持を促進する、請求項5に記載の装置。
Applications Claiming Priority (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US201361774901P | 2013-03-08 | 2013-03-08 | |
US61/774,901 | 2013-03-08 | ||
US14/201,610 | 2014-03-07 | ||
US14/201,610 US10149720B2 (en) | 2013-03-08 | 2014-03-07 | Method, apparatus, and a system for facilitating bending of an instrument in a surgical or medical robotic environment |
PCT/US2014/022424 WO2014138729A1 (en) | 2013-03-08 | 2014-03-10 | Method, apparatus, and system for facilitating bending of an instrument in a surgical environment |
Related Child Applications (1)
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JP2018152647A Division JP6709257B2 (ja) | 2013-03-08 | 2018-08-14 | 外科環境で器具の屈曲を促進するための方法、装置およびシステム |
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Publication Number | Publication Date |
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JP2016513500A true JP2016513500A (ja) | 2016-05-16 |
JP6434430B2 JP6434430B2 (ja) | 2018-12-05 |
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JP2015561752A Active JP6434430B2 (ja) | 2013-03-08 | 2014-03-10 | 外科環境で器具の屈曲を促進するための方法、装置およびシステム |
JP2018152647A Active JP6709257B2 (ja) | 2013-03-08 | 2018-08-14 | 外科環境で器具の屈曲を促進するための方法、装置およびシステム |
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Country Status (6)
Country | Link |
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US (3) | US10149720B2 (ja) |
EP (1) | EP2964072B1 (ja) |
JP (2) | JP6434430B2 (ja) |
KR (1) | KR102234974B1 (ja) |
CN (1) | CN105228502B (ja) |
WO (1) | WO2014138729A1 (ja) |
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US20180360435A1 (en) | 2018-12-20 |
US20150101442A1 (en) | 2015-04-16 |
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KR102234974B1 (ko) | 2021-03-31 |
EP2964072A4 (en) | 2016-10-19 |
US10149720B2 (en) | 2018-12-11 |
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CN105228502B (zh) | 2017-08-08 |
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CN105228502A (zh) | 2016-01-06 |
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JP2018196759A (ja) | 2018-12-13 |
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