JP2017512659A - 運動が拘束される関節運動可能部材、並びに関連する装置及び方法 - Google Patents
運動が拘束される関節運動可能部材、並びに関連する装置及び方法 Download PDFInfo
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Abstract
Description
Claims (31)
- 関節運動可能部材であって、
遠位端部と、
近位端部と、
前記近位端部から前記遠位端部に延びる作動部材であって、前記関節運動可能部材を中立位置から屈曲させるために力を伝達する前記作動部材と、
前記近位端部から前記遠位端部に延びる拘束部材であって、前記遠位端部と前記近位端部とにそれぞれ固定される互いに対向する端部を有する、前記拘束部材とを備え、
前記拘束部材が、前記近位端部から前記遠位端部に前記関節運動可能部材の少なくとも一部分に沿った螺旋経路を辿る、関節運動可能部材。 - 前記関節運動可能部材が、隣り合うリンク間の関節を介して結合された複数のリンクを備える手関節である、請求項1に記載の関節運動可能部材。
- 前記拘束部材が前記リンクの並進運動を受動的に拘束する、請求項2に記載の関節運動可能部材。
- 前記作動部材が、前記遠位端部から前記近位端部に前記関節運動可能部材に沿って実質的に直線状に延びる、請求項2に記載の関節運動可能部材。
- 連続する関節の回転軸線が互いに直交する向きに配置される、請求項2に記載の関節運動可能部材。
- 隣り合うリンク間の前記拘束部材の前記螺旋経路の角度範囲が約90°である、請求項5に記載の関節運動可能部材。
- 前記関節運動可能部材が複数の拘束部材を備え、第1の拘束部材の螺旋経路が右巻きであり且つ第2の拘束部材の螺旋経路が左巻きである、請求項5に記載の関節運動可能部材。
- 2つの連続する関節の回転軸線が実質的に同じ方向に延び、且つ前記2つの連続する関節の両側に位置する関節の回転軸線が、前記連続する関節の前記回転軸線の前記方向に実質的に直交する方向に延びる、請求項2に記載の関節運動可能部材。
- 前記2つの連続する関節間の前記拘束部材の前記螺旋経路の角度範囲が約180°である、請求項8に記載の関節運動可能部材。
- 前記拘束部材が編組構造の一部である、請求項1に記載の関節運動可能部材。
- 前記編組構造の遠位端部と近位端部との間の前記編組構造の角度範囲が約180°である、請求項10に記載の関節運動可能部材。
- 前記編組構造の遠位端部と近位端部との間の前記編組構造の角度範囲が約360°である、請求項10に記載の関節運動可能部材。
- 前記編組構造の遠位端部と近位端部との間の前記編組構造の角度範囲が約720°である、請求項10に記載の関節運動可能部材。
- 前記編組構造の膨張及び収縮を抑えるために、前記編組構造の内部に配置された部材と、前記編組構造の外部に配置された部材とを更に備える、請求項10に記載の関節運動可能部材。
- 前記編組構造が、前記近位端部から前記遠位端部までの前記関節運動可能部材の本体構造を形成する、請求項10に記載の関節運動可能部材。
- 複数のリンクを更に備え、前記編組構造が前記複数のリンクの運動を拘束する、請求項10に記載の関節運動可能部材。
- 前記関節運動可能部材が、手術器具の手関節である、請求項1に記載の関節運動可能部材。
- 前記関節運動可能部材が、複数の作動部材と、複数の拘束部材とを備える、請求項1に記載の関節運動可能部材。
- 関節運動可能部材であって、
近位端部と、
遠位端部と、
前記近位端部から前記遠位端部に延びる作動部材であって、前記関節運動可能部材を中立位置から屈曲させるために力を伝達するように構成される前記作動部材と、
前記近位端部から前記遠位端部に延びる拘束部材であって、前記遠位端部と前記近位端部とにそれぞれ固定される互いに対向する端部を有する前記拘束部材と、を備え、
前記作動部材が、前記関節運動可能部材の前記近位端部と前記遠位端部との間の前記関節運動可能部材の少なくとも一部分に沿った螺旋経路を辿る、関節運動可能部材。 - 前記拘束部材が、前記関節運動可能部材を通る略直線経路を辿る、請求項19に記載の関節運動可能部材。
- 前記作動部材の前記螺旋経路の角度範囲が約180°である、請求項20に記載の関節運動可能部材。
- 前記関節運動可能部材が平行運動機構である、請求項19に記載の関節運動可能部材。
- 前記関節運動可能部材が、複数の作動部材と、複数の拘束部材とを備える、請求項19に記載の関節運動可能部材。
- 手術器具であって、
シャフトと、
前記シャフトの近位端部に連結された力伝達機構と、
前記シャフトの遠位端部に連結された平行運動機構と、
複数のリンクを備える手関節であって、前記平行運動機構の前記遠位端部に結合される前記手関節と、
関節運動可能部材を中立位置から屈曲させるか又は前記手関節を中立位置から屈曲させるために力伝達機構から力を伝達する作動部材と、
少なくとも前記手関節を貫通して延びる拘束部材であって、少なくとも手関節機構の運動を受動的に拘束する前記拘束部材とを備え、
前記拘束部材の互いに対向する端部が前記手関節の近位端部と遠位端部とにそれぞれ固定される、手術器具。 - 前記拘束部材の互いに対向する端部が、前記平行運動機構の近位端部と遠位端部とにそれぞれ固定される、請求項24に記載の手術器具。
- 前記手関節の遠位端部に結合されたエンドエフェクタを更に備える、請求項24に記載の手術器具。
- 前記作動部材が、前記手関節を屈曲させるために前記力伝達機構から前記力を伝達するための手関節作動部材であり、前記手関節作動部材が、前記平行運動機構及び前記手関節に沿った略直線経路で延びる、請求項24の手術器具。
- 前記作動部材が、前記平行運動機構を屈曲させるために前記力伝達機構から前記力を伝達するための平行運動機構作動部材であり、前記平行運動機構作動部材が、前記平行運動機構の少なくとも一部分に沿った螺旋経路を辿る、請求項24に記載の手術器具。
- 前記拘束部材が、前記平行運動機構に沿った略直線経路及び前記手関節の少なくとも一部分に沿った螺旋経路を辿る、請求項24に記載の手術器具。
- 前記平行運動機構を貫通して延びる第2の拘束部材を更に備え、前記第2の拘束部材が前記平行運動機構の運動を受動的に拘束する、請求項24に記載の手術器具。
- 前記拘束部材が、前記平行運動機構と前記手関節との両方を貫通して延び、且つ前記平行運動機構と前記手関節の運動を受動的に拘束する、請求項24に記載の手術器具。
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EP3459696A1 (en) * | 2017-08-18 | 2019-03-27 | Rolls-Royce plc | Hyper-redundant manipulators |
WO2019131064A1 (ja) * | 2017-12-25 | 2019-07-04 | ジョンソン・エンド・ジョンソン株式会社 | ジョイント部材、処置具、処置具の屈曲制御方法 |
WO2022186327A1 (ja) * | 2021-03-05 | 2022-09-09 | 日本発條株式会社 | 屈曲構造体 |
JP2023532913A (ja) * | 2020-06-30 | 2023-08-01 | 普鋭醫療(香港)有限公司 | 手術用ロボティックアーム、可撓性アーム及び可撓性ジョイント |
JP7498055B2 (ja) | 2019-08-05 | 2024-06-11 | カール シュトルツ エスエー ウント コンパニー カーゲー | 内視鏡用装置 |
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CN106163421A (zh) | 2016-11-23 |
CN113729963A (zh) | 2021-12-03 |
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EP3107463A1 (en) | 2016-12-28 |
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EP4356864A3 (en) | 2024-06-19 |
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CN111481245A (zh) | 2020-08-04 |
US20170056118A1 (en) | 2017-03-02 |
CN106163421B (zh) | 2021-09-24 |
WO2015126752A1 (en) | 2015-08-27 |
US11109925B2 (en) | 2021-09-07 |
EP3107463B1 (en) | 2024-07-17 |
KR20220031129A (ko) | 2022-03-11 |
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