JP2018500058A - ロボット外科手術用システムアクセスポートの感知 - Google Patents
ロボット外科手術用システムアクセスポートの感知 Download PDFInfo
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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
- A61B17/34—Trocars; Puncturing needles
- A61B17/3417—Details of tips or shafts, e.g. grooves, expandable, bendable; Multiple coaxial sliding cannulas, e.g. for dilating
- A61B17/3421—Cannulas
- A61B17/3423—Access ports, e.g. toroid shape introducers for instruments or hands
-
- 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
-
- 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
-
- 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
- A61B34/35—Surgical robots for telesurgery
-
- 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
- A61B34/70—Manipulators specially adapted for use in surgery
- A61B34/76—Manipulators having means for providing feel, e.g. force or tactile feedback
-
- 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
- A61B2034/302—Surgical robots specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/06—Measuring instruments not otherwise provided for
- A61B2090/064—Measuring instruments not otherwise provided for for measuring force, pressure or mechanical tension
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/06—Measuring instruments not otherwise provided for
- A61B2090/064—Measuring instruments not otherwise provided for for measuring force, pressure or mechanical tension
- A61B2090/065—Measuring instruments not otherwise provided for for measuring force, pressure or mechanical tension for measuring contact or contact pressure
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/08—Accessories or related features not otherwise provided for
- A61B2090/0807—Indication means
- A61B2090/0811—Indication means for the position of a particular part of an instrument with respect to the rest of the instrument, e.g. position of the anvil of a stapling instrument
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- Health & Medical Sciences (AREA)
- Surgery (AREA)
- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Medical Informatics (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Robotics (AREA)
- Pathology (AREA)
- Manipulator (AREA)
- Surgical Instruments (AREA)
Abstract
Description
本願は、米国仮特許出願第62/068,040号(2014年10月24日出願)の利益およびそれに対する優先権を主張し、上記出願の全開示は、参照により本明細書に引用される。
Claims (19)
- ロボット外科手術用システムであって、前記システムは、
アクセスポートであって、前記アクセスポートは、その中に組み込まれた複数の第1のセンサを含み、前記アクセスポートは、組織内に固定されている、アクセスポートと、
外科手術用器具であって、前記外科手術用器具は、前記ロボット外科手術用システムのロボットアームとの使用のためのエンドエフェクタと、前記ロボットアームへの接続とを有し、前記外科手術用器具は、少なくともシャフトを含む、外科手術用器具と
を備え、
前記複数の第1のセンサは、前記シャフトが前記アクセスポートを通して挿入されるときの組織と前記アクセスポートとの間の少なくとも1つのローディングパラメータを測定するように構成されている、ロボット外科手術用システム。 - 前記複数の第1のセンサは、前記少なくとも1つのローディングパラメータを示す信号を前記ロボット外科手術用システムの処理ユニットに伝送する、請求項1に記載のロボット外科手術用システム。
- 前記信号の伝送は、無線で、かつリアルタイムで継続的に生じる、請求項2に記載のロボット外科手術用システム。
- 前記少なくとも1つのローディングパラメータは、前記外科手術用器具の前記エンドエフェクタの先端に加えられる力またはトルクのうちの少なくとも1つに関連する、請求項1に記載のロボット外科手術用システム。
- 前記ロボット外科手術用システムのロボットアームは、前記ロボット外科手術用システムの前記ロボットアームに取り付けられた前記外科手術用器具における力またはトルクのうちの少なくとも1つを測定するための複数の第2のセンサを含む、請求項1に記載のロボット外科手術用システム。
- 前記複数の第1および第2のセンサから受信された測定は、前記外科手術用器具の前記エンドエフェクタの先端における荷重を推定するために組み合わせられる、請求項5に記載のロボット外科手術用システム。
- 前記外科手術用器具の前記エンドエフェクタの先端における前記推定される荷重は、触知フィードバックをユーザに通信するための触知フィードバックインターフェースにリアルタイムで提供される、請求項6に記載のロボット外科手術用システム。
- 前記触知フィードバックは、前記推定される荷重に関連する特定のイベント、発生、または動作特性に応答して、強度において増減する、請求項7に記載のロボット外科手術用システム。
- 前記エンドエフェクタは、前記ロボット外科手術用システムの制御デバイスの少なくとも1つのモータによって制御され、および/または関節運動させられ、前記少なくとも1つのモータは、前記信号を前記複数の第1および第2のセンサから受信し、継続的かつリアルタイムで、前記外科手術用器具の前記エンドエフェクタの先端に加えられる荷重を調節するように構成されている、請求項8に記載のロボット外科手術用システム。
- 外科手術用アクセスポートであって、前記外科手術用アクセスポートは、
近位端および遠位端を有する本体部材であって、前記本体部材の一部は、組織内に固定されている、本体部材と、
前記本体部材内に埋め込まれた複数のセンサであって、前記複数のセンサは、組織と前記外科手術用アクセスポートとの間の少なくとも1つのローディングパラメータを測定するように構成されている、複数のセンサと
を備えている、外科手術用アクセスポート。 - 前記複数のセンサは、前記少なくとも1つのローディングパラメータを示す信号を前記外科手術用器具に機械的に接続されているロボット外科手術用システムの処理ユニットに伝送する、請求項10に記載の外科手術用アクセスポート。
- 前記信号の伝送は、無線で、かつリアルタイムで継続的に生じる、請求項11に記載の外科手術用アクセスポート。
- ロボット外科手術用システムのロボットアーム上に搭載されている外科手術用器具のエンドエフェクタの先端における荷重を推定する方法であって、前記方法は、
外科手術用器具アクセスポートに結合されている外科手術患者の組織と前記アクセスポート内の前記外科手術用器具のシャフトとの間に位置するセンサから受信されるセンサデータから、前記外科手術用器具アクセスポートのアクセスポート荷重を定量化することと、
前記測定されたアクセスポート荷重に少なくとも部分的に基づいて、前記外科手術用器具の前記エンドエフェクタにおける決定される先端荷重を調節することと
を含む、方法。 - 前記アクセスポート荷重を示す信号を前記第1のセンサから前記ロボット外科手術用システムの処理ユニットに無線で伝送することをさらに含む、請求項13に記載の方法。
- 前記信号の無線伝送は、継続的かつリアルタイムで生じる、請求項14に記載の方法。
- 前記アクセスポート荷重は、前記外科手術用器具の前記エンドエフェクタの先端に加えられる力またはトルクのうちの少なくとも1つに関連する、請求項13に記載の方法。
- 前記ロボット外科手術用システムの前記ロボットアーム内の第2のセンサのセンサデータから、前記ロボット外科手術用システムの前記ロボットアームに取り付けられている前記外科手術用器具における力またはトルクのうちの少なくとも1つを定量化することをさらに含む、請求項13に記載の方法。
- 前記第1および第2のセンサから受信される定量化は、前記外科手術用器具の前記エンドエフェクタの先端における推定される荷重を算出するために組み合わせられる、請求項17に記載の方法。
- 前記外科手術用器具の前記エンドエフェクタの先端における前記推定される荷重は、触知フィードバックをユーザに通信するための触知フィードバックインターフェースにリアルタイムで提供される、請求項18に記載の方法。
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
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US201462068040P | 2014-10-24 | 2014-10-24 | |
US62/068,040 | 2014-10-24 | ||
PCT/US2015/055456 WO2016064632A1 (en) | 2014-10-24 | 2015-10-14 | Sensorizing robotic surgical system access ports |
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JP2018500058A true JP2018500058A (ja) | 2018-01-11 |
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JP2017521993A Pending JP2018500058A (ja) | 2014-10-24 | 2015-10-14 | ロボット外科手術用システムアクセスポートの感知 |
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US (2) | US10779856B2 (ja) |
EP (1) | EP3209237A4 (ja) |
JP (1) | JP2018500058A (ja) |
CN (1) | CN107072726B (ja) |
WO (1) | WO2016064632A1 (ja) |
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CN107072726A (zh) | 2017-08-18 |
WO2016064632A1 (en) | 2016-04-28 |
EP3209237A4 (en) | 2018-06-06 |
US10779856B2 (en) | 2020-09-22 |
EP3209237A1 (en) | 2017-08-30 |
CN107072726B (zh) | 2020-09-29 |
US12004773B2 (en) | 2024-06-11 |
US20210000503A1 (en) | 2021-01-07 |
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