JP2018202189A - 入力装置を遠隔操作手術器具機能に割り当てるための方法及びシステム - Google Patents
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Abstract
Description
図1を参照すると、遠隔手術システム100が提供され、これは、例示的な実施形態では、様々な遠隔操作手術器具102a−102cとインタフェース接続するとともに制御することによって低侵襲手術を実行する。手術器具102a−102cは、様々な手術を実行するように構成される様々な器具から選択されることができ、様々な例示的な実施形態によれば、1又は複数は、電気手術器具、例えば、バイポーラ及び/又はモノポーラ電気手術器具であり得る。幾つかの手術器具はまた、いわゆる混在モードであることもでき、この混在モードは、モノポーラ及びバイポーラエネルギ両方の供給を可能にする。
以下の記載では、様々な例示的な実施形態は、図1の手術器具102a−102cのような手術器具との補助入力装置のマッピング(対応付け)を記載する。しかし、当業者は、イメージング器具(例えば、図1の内視鏡カメラ器具103)のような、他のタイプの器具もまた、補助入力装置及びここに記載された位置マッピングを通じて制御されることができることを理解するであろう。したがって、請求項で使われるとき、手術器具は、特定の形態の器具に限定されるべきではなく、上述のように、手術、診断、又は治療を実行するため使用され且つ遠隔制御される手術システムの様々な器具を包含するように広く解釈されるべきである。
次に、図7に示されたスクリーンキャプチャを参照すると、図5の例示的な実施形態によるワークフローの動作508において、相対左又は右手に対応付けされた作動された入力装置、例えば、フットペダル124a−124dの1つの指標が、GUI700に表示される。表示された指標は、例えば、外科医コンソール130、制御カート130等の、制御システムの1又は複数のプロセッサからの表示信号の受信に基づいて、例えば、ディスプレイ126又は132に、表示される。図7に示される例示的な実施形態では、表示バー706aは強調された状態を示す一方、表示バー706bは強調されていない状態を示す。図7の例示的な実施形態の表示バー706bにおける強調されていない状態は、フットペダルの右列のフットペダル124c、124dのいずれも作動されていないことを示す。
Claims (20)
- 補助入力装置をロボット手術システムの手術器具に割り当てる方法であって:
前記補助入力装置の位置及びユーザの手のどちらが前記手術器具の遠隔制御動作と動作可能に結合されている他の入力装置を操作しているかに基づいて、前記補助入力装置を前記手術器具の補助機能の制御に自動的に割り当てるステップを有する、
方法。 - 前記補助入力装置の前記位置は、少なくとも1つの他の補助入力装置に対する左位置及び右位置の一方である、
請求項1に記載の方法。 - 前記補助入力装置からの入力コマンド信号に応じて、前記手術器具の前記補助機能を作動させるように信号を送信するステップ、をさらに有する、
請求項1に記載の方法。 - 前記補助機能は、エネルギを供給すること、画像及び/又はオーディオストリーミング、洗浄、吸引、ステープル留め、及び切断の少なくとも1つから選ばれる、
請求項1に記載の方法。 - 前記補助入力装置の近くのユーザの存在を検出するステップ;及び
前記検出するステップに応じて、グラフィカルユーザインタフェースの一部にどの手術器具に前記補助入力装置が制御を割り当てられているかを示す指標を表示するステップ;をさらに有する、
請求項1に記載の方法。 - 前記補助機能入力装置の作動を検出するステップ;及び
前記検出するステップに応じて、グラフィカルユーザインタフェースの一部に、どの手術器具に前記補助入力装置が割り当てられているかを示す指標を表示するステップ;をさらに有する、
請求項1に記載の方法。 - 前記手術器具の補助機能タイプを検出するステップ及び前記検出された補助機能タイプに基づいて、前記手術器具の前記補助機能を作動させるように前記補助入力装置から信号を送信するステップをさらに有する、
請求項1に記載の方法。 - 遠隔手術システムに動作可能に結合される手術器具を制御するために入力制御信号を生成し且つ伝達するように動作可能に結合される入力装置;
補助入力装置;及び
前記補助入力装置の位置及びユーザの手のどちらが前記入力装置を操作しているかに基づいて、前記手術器具の補助機能を制御するように前記補助入力装置を動作可能に結合する制御システム;を有する、
手術器具を制御するためのシステム。 - 前記補助入力装置の位置は、少なくとも1つの他の補助入力装置に対する左位置及び右位置の一方である、
請求項8に記載のシステム。 - 前記入力装置に動作可能に結合されるマニピュレータインタフェース組立体をさらに有し、前記マニピュレータインタフェース組立体は、前記入力装置からの制御信号に応じて前記手術器具を制御するように構成される、
請求項8に記載のシステム。 - 前記補助入力装置は、前記手術器具の検出された補助機能タイプにしたがって前記手術器具を制御するように信号を送信する、
請求項8に記載のシステム。 - 前記補助入力装置の近くのユーザの存在を検出するように配置された存在センサ;及び
前記補助入力装置の近くの前記ユーザの検出された存在の指標を含むグラフィカルユーザインタフェース;をさらに有する、
請求項8に記載のシステム。 - 前記補助入力装置の作動を検出する作動センサ;及び
前記補助入力装置の前記作動の指標を含むグラフィカルユーザインタフェース;をさらに有する、
請求項8に記載のシステム。 - 前記入力装置は、把持機構を有する、
請求項8に記載のシステム。 - 前記補助入力装置は、フットペダルを有する、
請求項8に記載のシステム。 - 追加的な入力装置をさらに有し、前記入力装置は、それぞれ、前記遠隔手術システムの外科医コンソールを操作するユーザの左位置及び右位置に配置される、
請求項8に記載のシステム。 - 追加的な補助入力装置をさらに有し、前記補助入力装置のそれぞれは、互いに対するそれぞれの左位置及び右位置にそれぞれ配置される、
請求項16に記載のシステム。 - 補助入力装置を手術システムの手術器具を制御するように割り当てる方法であって:
遠隔手術システムの第1のマニピュレータインタフェース組立体に結合される第1の手術器具を検出するステップであって、前記マニピュレータインタフェース組立体は、第1の入力装置によって制御される、ステップ;
ユーザの左手及び右手のどちらの一方が前記第1の入力装置を操作しているかを検出するステップ;及び
前記ユーザの左手が前記第1の入力装置を操作することが検出される場合、前記第1の手術器具の補助機能の制御を、第2の補助入力装置に対する左の位置に配置された第1の補助入力装置に割り当てるステップ、又は
前記ユーザの右手が前記第1の入力装置を操作することが検出される場合、前記第1の手術器具の補助機能の制御を、前記第1の補助入力装置に対する右の位置に配置された第2の補助入力装置に割り当てるステップ;を有し、
前記左の位置及び前記右の位置の基準系は、前記第1の入力装置を操作する前記ユーザに対するものである、
方法。 - 前記補助機能は、電気手術機能を有する、
請求項18に記載の方法。 - 前記第1の入力装置は、把持機構を有する、
請求項18に記載の方法。
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JP7146851B2 (ja) | 2022-10-04 |
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JP6725599B2 (ja) | 2020-07-22 |
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CN109846553B (zh) | 2022-03-08 |
CN104640514A (zh) | 2015-05-20 |
JP2020179185A (ja) | 2020-11-05 |
JP2015534476A (ja) | 2015-12-03 |
EP2895098A4 (en) | 2016-05-25 |
KR102335797B1 (ko) | 2021-12-07 |
CN104640514B (zh) | 2019-05-07 |
US20180036087A1 (en) | 2018-02-08 |
KR102188033B1 (ko) | 2020-12-07 |
WO2014043619A1 (en) | 2014-03-20 |
KR20200139266A (ko) | 2020-12-11 |
EP4082468A1 (en) | 2022-11-02 |
CN109846553A (zh) | 2019-06-07 |
KR20150058263A (ko) | 2015-05-28 |
US20200281672A1 (en) | 2020-09-10 |
EP2895098B1 (en) | 2022-08-10 |
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