JP2017153998A - 複数の有関節器具をエントリーガイドに向かって連係して後退させる方法及びシステム - Google Patents
複数の有関節器具をエントリーガイドに向かって連係して後退させる方法及びシステム Download PDFInfo
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Abstract
Description
本出願は、“Medical Robotic System with Coupled Control Modes”と表題が付けられ、2010年5月14日に出願された、米国出願第12/780,071号の一部継続出願である。該一部継続出願は、“Minimally Invasive Surgical System”と表題が付けられ、2007年6月13日に出願された、米国出願第11/762,200号の一部継続出願である。これらの出願はそれぞれ、参照により本明細書に取り込まれる。
または、外科医が、入力装置41,42のうち一つのボタンを押すことによって、実行され得る。または、外科医が、外科医用コンソール2102上のフットペダルを押圧することによって、実行され得る。または、外科医が、他の周知のモード切換え技術を使用することによって、実行され得る。そのようなモード切換えは、本明細書において外科医によって実行されるものとして記述されているが、代替的に外科の指示下にある助手によって実行されてもよい。
Claims (24)
- 複数の有関節器具を、該有関節器具が延びるエントリーガイドに向かって連係して後退させる方法であって、
引き込みオン距離よりも大きな、初期位置からの距離によって、前記複数の有関節器具を前記エントリーガイドに向かって連係して後退させるための、一つ又はそれ以上のコマンドのみに応じて、前記複数の有関節器具に引き込み形態をとらせる、ステップ、
を含む、方法。 - 前記引き込みオン距離よりも大きな、初期位置からの距離によって、前記複数の有関節器具を前記エントリーガイドに向かって連係して後退させるための、制御機構からのコマンドを受けて、該制御機構に加えられている触覚的な力に急な変化を起こす、ステップを更に含む、請求項1記載の方法。
- 前記複数の有関節器具を前記エントリーガイドに向かって後退させるための、制御機構からのコマンドが、漸進的に初期位置からの境界距離を超えるにつれて、漸進的に力が増大する方式で、制御機構に対して加えられる触覚的な力を引き起こすステップであって、前記境界距離は、前記引き込みオン距離よりも小さい、ステップを更に含む、請求項1記載の方法。
- ロック距離を超える初期位置からの距離によって、前記エントリーガイドを並進的に長手軸方向に沿って引き込み方向に動かすためのコマンドを受けて、前記エントリーガイドの回転のために使用される複数の関節を所定の位置にロックさせるステップであって、前記ロック距離は前記引き込みオン距離よりも小さい、ステップ及び
前記エントリーガイドを並進的に前記長手軸に沿って前記引き込み方向に動かす一つ又はそれ以上のコマンドから、前記複数の有関節器具を前記エントリーガイドに向かって連係して後退させる、一つ又はそれ以上のコマンドを生成するステップ
を更に含む、請求項1記載の方法。 - 前記複数の有関節器具が前記エントリーガイド内に引き込まれた後に、前記エントリーガイドを回転させるために使用される前記複数の関節をロック解除させるステップを更に含む、請求項4記載の方法。
- 前記複数の器具のそれぞれが、前記エントリーガイド内に引き込まれることを可能にする形態であるか、又は前記複数の有関節器具のそれぞれが、前記エントリーガイドの前記遠位側端部からの最小距離にあるかのいずれかである場合に、前記複数の有関節器具を前記エントリーガイドに向かって連係して後退させるための一つ又はそれ以上のコマンドに応じて、前記複数の有関節器具を前記エントリーガイドに向かって連係して後退させる、ステップを更に含む、請求項1記載の方法。
- 前記複数の有関節器具の一つは、画像キャプチャー端部を有する有関節カメラ器具であり、他の前記複数の有関節器具は、作業端部を有する有関節ツール器具であり、
前記複数の有関節器具を前記エントリーガイドに向かって連係して後退させる前記ステップは、
前記複数の有関節器具を前記エントリーガイドに向かって連係して後退させるための一つ又はそれ以上のコマンドに応じて、前記画像キャプチャー端部が前記エントリーガイド内に入るまで、前記有関節カメラ器具を前記エントリーガイドに向かって後退させる、サブステップを含む、
請求項6記載の方法。 - 前記複数の有関節器具を前記エントリーガイドに向かって連係して後退させる前記ステップは、
前記複数の有関節器具を前記エントリーガイドに向かって連係して後退させるための一つ又はそれ以上のコマンドに応じて、前記作業端部が前記エントリーガイド内に入った後でも、前記他の複数の有関節器具のそれぞれを、前記エントリーガイドに向かって後退させる、サブステップを有する、請求項7記載の方法。 - 前記複数の有関節器具を前記エントリーガイドに向かって連係して後退させる前記ステップは、前記複数の有関節器具を前記エントリーガイドに向かって連係して後退させるための前記一つ又はそれ以上のコマンドが初期位置からの前記引き込みオン距離を漸進的に超えるにつれて、漸進的に増大する速度制限の影響を受ける、請求項6記載の方法。
- 前記複数の有関節器具を前記エントリーガイドに向かって連係して後退させる前記ステップは、前記複数の有関節器具を前記エントリーガイドに向かって連係して後退させるための前記一つ又はそれ以上のコマンドが初期位置からの最大距離を超えた後に、最大速度制限の影響を受け、
前記最大距離は、前記引き込みオン距離よりも大きい、
請求項9記載の方法。 - エントリーガイドの再方向付け方法であって、該エントリーガイドは、該エントリーガイドから延びる複数の有関節器具を有し、
当該方法は、
前記エントリーガイドを、ロック距離を超える初期位置からの距離で、該エントリーガイドの長手方向に沿って、引き込み方向に並進的に動かすための、第一コマンドを生成する、ステップ、
前記第一コマンドに応じて、前記エントリーガイドを回転させるために使用される複数の関節を、所定の位置にロックさせる、ステップ、
前記エントリーガイドを、引き込みオン距離よりも大きな、初期位置からの距離で、該エントリーガイドの長手方向に沿って、引き込み方向に並進的に動かすための、第二コマンドを生成するステップであって、前記引き込みオン距離は、前記ロック距離よりも大きい、ステップ、
前記第二コマンドに応じて、前記複数の有関節器具に引き込み形態をとらせ、前記エントリーガイドに向かって連係して引き込ませる、ステップ
前記複数の有関節器具のいずれもが如何なる患者の組織を害することなく前記エントリーガイドが回転することを許容する距離で、前記複数の有関節器具が前記エントリーガイドに向かって引き込まれた後に、前記エントリーガイドを回転させるために使用される前記複数の関節のロックを外す、ステップ、
前記エントリーガイドを、異なる方向へ回転させるための第三コマンドを生成する、ステップ、及び
前記第三コマンドに応じて、前記エントリーガイドを回転させるために使用される前記複数の関節に前記エントリーガイドを回転させる、ステップ、
を含む、方法。 - 前記引き込みオン距離と同じか又はそれよりも大きな、初期位置からの距離によって、前記エントリーガイドを長手軸方向に沿って前記引抜き方向に並進的に動かすための、制御機構からのコマンドを受けて、該制御機構に加えられている触覚的な力に急な変化を起こす、ステップを更に含む、
を更に含む、請求項11記載の方法。 - ロボットシステムであって、
少なくとも一つの入力装置、
エントリーガイド、
該エントリーガイドの遠位側端部から延びる複数の有関節器具、
該複数の有関節器具の対応するものを操縦するための、複数の器具操縦部、及び
前記少なくとも一つの入力装置から受信した一つ又はそれ以上のコマンドに対応して、前記複数の有関節器具を操縦して引き込み形態をとらせるように前記複数の器具操縦部に命令し、引き込みオン距離よりも大きな、初期位置からの距離で、前記複数の有関節器具を前記エントリーガイドに向かって連係して後退させる、ように適合された、プロセッサ、
を有する、システム。 - 前記プロセッサは、前記引き込みオン距離よりも大きな、初期位置からの距離によって、前記複数の有関節器具を前記エントリーガイドに向かって連係して後退させるための、前記少なくとも一つの入力装置からのコマンドを受けて、前記少なくとも一つの入力装置に加えられている触覚的な力に急な変化を起こすように適合されている、請求項13記載のシステム。
- 前記プロセッサは、前記複数の有関節器具を前記エントリーガイドに向かって後退させるための、前記少なくとも一つの入力装置からの前記一つ又はそれ以上のコマンドが、漸進的に初期位置からの境界距離を超えるにつれて、漸進的に力が増大する方式で、前記少なくとも一つの入力装置に対して加えられる触覚的な力を引き起こすように適合されており、前記境界距離は、前記引き込みオン距離よりも小さい、請求項13記載のシステム。
- 前記エントリーガイドを回転させるために使用される複数の関節を有するエントリーガイド操縦部を更に有し、
前記プロセッサは、ロック距離を超える初期位置からの距離によって、前記エントリーガイドを並進的に長手軸方向に沿って引き込み方向に動かすための、前記一つ又はそれ以上の入力装置からのコマンドを受けて、前記エントリーガイド操縦部の前記複数の関節を所定の位置にロックさせるように適合されており、前記ロック距離は前記引き込みオン距離よりも小さく、かつ
前記プロセッサは、前記一つ又はそれ以上の入力装置から受信した、前記エントリーガイドを並進的に前記長手軸に沿って前記引き込み方向に動かすコマンドから、前記複数の有関節器具を前記エントリーガイドに向かって連係して後退させるコマンドを生成するように適合されている、
請求項13記載のシステム。 - 前記プロセッサは、前記複数の有関節器具が前記エントリーガイド内に引き込まれた後に、前記エントリーガイド操縦部の前記複数の関節をロック解除させるように適合されている、請求項16記載のシステム。
- 前記有関節カメラ器具から由来する処理された画像を表示するための、ビューアーを更に有し、
前記プロセッサは、
前記少なくとも一つの入力装置の操作者に、該操作者が表示されている処理された画像を押し離していると同時に、前記操作者が前記ビューアーを見ており、かつ、前記エントリーガイドを長手軸方向において前記引き込み方向に並進的に動かすように命令することに結果する方式で、前記少なくとも一つの入力装置を操縦している、という感覚を与える方法で、前記少なくとも一つの入力装置からのコマンドに応じて前記複数の器具操縦部に命令して、前記複数の有関節器具を操縦し、前記エントリーガイドに向かって連係して後退させるように適合されている、
請求項16記載のシステム。 - 前記少なくとも一つの入力装置は、
前記操作者の左手及び右手によってそれぞれ操作される左右の入力装置、
該左右の入力装置の複数の回転中心点であって、該複数の回転中心点を通過するハンドルバー軸を規定する、複数の回転中心点、及び
プロセッサを有し、
該プロセッサは、
前記エントリーガイド操縦部の前記複数の関節が所定の位置にロックされる前に、第一の入力装置及び第二の入力装置の前方及び後方への反対向きの動きに応じて、第一の軸のまわりで前記エントリーガイドを回転させるように、前記エントリーガイド操縦部に命令し、
前記エントリーガイド操縦部の前記複数の関節が所定の位置にロックされる前に、前記第一の入力装置及び前記第二の入力装置の上方向及び下方向への反対向きの動きに応じて、第二の軸のまわりで前記エントリーガイドを回転させるように、前記エントリーガイド操縦部に命令し、
前記エントリーガイド操縦部の前記複数の関節が所定の位置にロックされる前に、
前記第一の入力装置及び前記第二の入力装置の前記ハンドルバー軸のまわりの同じ方向への回転に応じて、第三の軸のまわりで前記エントリーガイドを回転させるように、前記エントリーガイド操縦部に命令し、かつ、
前記エントリーガイド操縦部の前記複数の関節が所定の位置にロックされたかどうかに関わらず、前記左右の入力装置の前側及び後側への調和した動きに応じて、前記エントリーガイドの長手方向軸に平行な共通の方向に、前記複数の有関節器具を動かすように、少なくとも一つの器具操縦部に命令する、
ように適合されている、請求項18記載のシステム。 - 前記プロセッサは、前記複数の器具のそれぞれが、前記エントリーガイド内に引き込まれることを可能にする形態であるか、又は前記複数の有関節器具のそれぞれが、前記エントリーガイドの前記遠位側端部からの最小距離にあるかのいずれかである場合に、前記複数の有関節器具を前記エントリーガイドに向かって連係して後退させるための一つ又はそれ以上のコマンドに応じて、前記複数の有関節器具を前記エントリーガイドに向かって後退させるように適合されている、請求項13記載のシステム。
- 前記プロセッサは、前記少なくとも一つの器具操縦部に命令して、前記複数の有関節器具を操縦し、前記複数の有関節器具を前記エントリーガイドに向かって連係して後退させるための前記少なくとも一つの入力装置からの前記コマンドが、初期位置からの前記引き込みオン距離を漸進的に超えるにつれて、漸進的に増大する速度制限の影響を受けて、前記エントリーガイドに向かって連係して後退させるように適合されている、請求項20記載のシステム。
- 前記プロセッサは、前記少なくとも一つの器具操縦部に命令して、前記複数の有関節器具を操縦し、前記少なくとも一つの入力装置からの、前記複数の有関節器具を前記エントリーガイドに向かって連係して後退させるための前記コマンドが初期位置からの最大距離を超えた後に、最大速度制限の影響を受けて、前記複数の有関節器具を前記エントリーガイドに向かって連係して後退させように適合されており、
前記最大距離は、前記引き込みオン距離よりも大きい、
請求項21記載のシステム。 - 前記複数の有関節器具の一つは、画像キャプチャー端部を有する有関節カメラ器具であり、他の前記複数の有関節器具は、作業端部を有する有関節ツール器具であり、
前記プロセッサは、前記複数の器具操縦部に命令して、前記複数の有関節器具を前記エントリーガイドに向かって連係して後退させるための一つ又はそれ以上のコマンドに応じて、前記画像キャプチャー端部が前記エントリーガイド内に入るまで、前記有関節カメラ器具が前記エントリーガイドに向かって後退するように操縦することによって、前記複数の有関節器具を操縦して前記エントリーガイドに向かって連係して後退させるように適合されている、請求項20記載のシステム。 - 前記プロセッサは、前記少なくとも一つの器具操縦部に命令し、前記複数の有関節器具を前記エントリーガイドに向かって連係して後退させるための一つ又はそれ以上のコマンドに応じて、前記作業端部が前記エントリーガイド内に入った後でも、前記他の複数の有関節器具のそれぞれを操縦して前記エントリーガイドに向かって後退させることによって、前記複数の有関節器具を操縦して前記エントリーガイドに向かって連係して後退させるように適合されている、請求項23記載のシステム。
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US20120059392A1 (en) | 2012-03-08 |
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US9138129B2 (en) | 2015-09-22 |
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JP6422530B2 (ja) | 2018-11-14 |
CN106901837A (zh) | 2017-06-30 |
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EP2775951A1 (en) | 2014-09-17 |
EP2775951A4 (en) | 2015-08-26 |
CN103930064A (zh) | 2014-07-16 |
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