JP2018517893A - 器具駆動装置内のロードセル - Google Patents
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- JP2018517893A JP2018517893A JP2017554257A JP2017554257A JP2018517893A JP 2018517893 A JP2018517893 A JP 2018517893A JP 2017554257 A JP2017554257 A JP 2017554257A JP 2017554257 A JP2017554257 A JP 2017554257A JP 2018517893 A JP2018517893 A JP 2018517893A
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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
-
- 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
- A61B34/77—Manipulators with motion or force scaling
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/085—Force or torque sensors
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
- F16C19/00—Bearings with rolling contact, for exclusively rotary movement
- F16C19/52—Bearings with rolling contact, for exclusively rotary movement with devices affected by abnormal or undesired conditions
- F16C19/522—Bearings with rolling contact, for exclusively rotary movement with devices affected by abnormal or undesired conditions related to load on the bearing, e.g. bearings with load sensors or means to protect the bearing against overload
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L1/00—Measuring force or stress, in general
- G01L1/04—Measuring force or stress, in general by measuring elastic deformation of gauges, e.g. of springs
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L1/00—Measuring force or stress, in general
- G01L1/20—Measuring force or stress, in general by measuring variations in ohmic resistance of solid materials or of electrically-conductive fluids; by making use of electrokinetic cells, i.e. liquid-containing cells wherein an electrical potential is produced or varied upon the application of stress
- G01L1/22—Measuring force or stress, in general by measuring variations in ohmic resistance of solid materials or of electrically-conductive fluids; by making use of electrokinetic cells, i.e. liquid-containing cells wherein an electrical potential is produced or varied upon the application of stress using resistance strain gauges
- G01L1/2206—Special supports with preselected places to mount the resistance strain gauges; Mounting of supports
- G01L1/2231—Special supports with preselected places to mount the resistance strain gauges; Mounting of supports the supports being disc- or ring-shaped, adapted for measuring a force along a single direction
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L1/00—Measuring force or stress, in general
- G01L1/20—Measuring force or stress, in general by measuring variations in ohmic resistance of solid materials or of electrically-conductive fluids; by making use of electrokinetic cells, i.e. liquid-containing cells wherein an electrical potential is produced or varied upon the application of stress
- G01L1/22—Measuring force or stress, in general by measuring variations in ohmic resistance of solid materials or of electrically-conductive fluids; by making use of electrokinetic cells, i.e. liquid-containing cells wherein an electrical potential is produced or varied upon the application of stress using resistance strain gauges
- G01L1/2206—Special supports with preselected places to mount the resistance strain gauges; Mounting of supports
- G01L1/2231—Special supports with preselected places to mount the resistance strain gauges; Mounting of supports the supports being disc- or ring-shaped, adapted for measuring a force along a single direction
- G01L1/2237—Special supports with preselected places to mount the resistance strain gauges; Mounting of supports the supports being disc- or ring-shaped, adapted for measuring a force along a single direction the direction being perpendicular to the central axis
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L1/00—Measuring force or stress, in general
- G01L1/20—Measuring force or stress, in general by measuring variations in ohmic resistance of solid materials or of electrically-conductive fluids; by making use of electrokinetic cells, i.e. liquid-containing cells wherein an electrical potential is produced or varied upon the application of stress
- G01L1/22—Measuring force or stress, in general by measuring variations in ohmic resistance of solid materials or of electrically-conductive fluids; by making use of electrokinetic cells, i.e. liquid-containing cells wherein an electrical potential is produced or varied upon the application of stress using resistance strain gauges
- G01L1/2268—Arrangements for correcting or for compensating unwanted effects
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
- G01L5/0009—Force sensors associated with a bearing
- G01L5/0019—Force sensors associated with a bearing by using strain gages, piezoelectric, piezo-resistive or other ohmic-resistance based sensors
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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
- A61B2017/00477—Coupling
-
- 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
- A61B2562/00—Details of sensors; Constructional details of sensor housings or probes; Accessories for sensors
- A61B2562/16—Details of sensor housings or probes; Details of structural supports for sensors
- A61B2562/164—Details of sensor housings or probes; Details of structural supports for sensors the sensor is mounted in or on a conformable substrate or carrier
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
- F16C2316/00—Apparatus in health or amusement
- F16C2316/10—Apparatus in health or amusement in medical appliances, e.g. in diagnosis, dentistry, instruments, prostheses, medical imaging appliances
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
- F16C2322/00—Apparatus used in shaping articles
- F16C2322/50—Hand tools, workshop equipment or manipulators
- F16C2322/59—Manipulators, e.g. robot arms
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16C—SHAFTS; FLEXIBLE SHAFTS; ELEMENTS OR CRANKSHAFT MECHANISMS; ROTARY BODIES OTHER THAN GEARING ELEMENTS; BEARINGS
- F16C2361/00—Apparatus or articles in engineering in general
- F16C2361/61—Toothed gear systems, e.g. support of pinion shafts
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L5/00—Apparatus for, or methods of, measuring force, work, mechanical power, or torque, specially adapted for specific purposes
- G01L5/0061—Force sensors associated with industrial machines or actuators
- G01L5/0076—Force sensors associated with manufacturing machines
- G01L5/009—Force sensors associated with material gripping devices
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- Health & Medical Sciences (AREA)
- General Physics & Mathematics (AREA)
- Physics & Mathematics (AREA)
- Life Sciences & Earth Sciences (AREA)
- Surgery (AREA)
- Robotics (AREA)
- Veterinary Medicine (AREA)
- Biomedical Technology (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Heart & Thoracic Surgery (AREA)
- Medical Informatics (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Chemical & Material Sciences (AREA)
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- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Human Computer Interaction (AREA)
- Manipulator (AREA)
- Measurement Of Force In General (AREA)
Abstract
【選択図】図9
Description
Claims (17)
- ロボットアームから器具に駆動を提供するための駆動ユニットであって、
前記器具の対応するエレメントと係合される複数の駆動エレメントを備えており、各前記駆動エレメントは駆動軸に沿って動作可能とされかつ各前記駆動エレメントの前記駆動軸は互いに実質的に平行とされており、
前記駆動軸が平行とされた前記駆動エレメントのロードセンシングのために前記駆動エレメントに結合された複数の可撓体と、前記複数の可撓体に印加されるロードから各前記可撓体を隔離するように前記可撓体を支持する一体部材からなるフレームと、を含むロードセル構造を備えている、ことを特徴とする駆動ユニット。 - 前記駆動ユニットは複数のリードスクリューを備える一方、各前記駆動エレメントは前記リードスクリューのそれぞれ1つと螺合するように構成されており、
前記フレームが一組のアパーチャを画定している一方、前記リードスクリューが前記アパーチャを貫通して延び出しかつ前記可撓体が前記フレームから前記リードスクリューまで前記アパーチャを横切って延び出している請求項1に記載の駆動ユニット。 - 各前記可撓体は、各前記リードスクリューが各前記可撓体に関してその長手方向の軸回りに自由に回転できるように構成されている、少なくとも1つのベアリングを介して各前記リードスクリューに結合されている請求項2に記載の駆動ユニット。
- 前記可撓体は、前記駆動エレメントの前記駆動軸に垂直な平面内に並んで配置されている請求項1〜3の何れか1項に記載の駆動ユニット。
- 前記可撓体は、実質的に平坦であり、前記駆動エレメントの前記駆動軸に対して垂直に延び出している請求項1〜4の何れか1項に記載の駆動ユニット。
- 前記可撓体は、実質的に同一平面とされている請求項4に記載の駆動ユニット。
- 前記フレームは、実質的に剛性を有している請求項1〜6の何れか1項に記載の駆動ユニット。
- 前記フレームは、前記可撓体と一体である請求項1〜7の何れか1項に記載の駆動ユニット。
- 各前記可撓体は、前記可撓体の撓みを検知するための歪みゲージに結合されている請求項1〜8の何れか1項に記載の駆動ユニット。
- 前記駆動エレメントを駆動するための複数のモータと、前記駆動エレメントおよび前記モータを支持する剛性ハウジングと、を備えており、
前記ハウジングは、前記モータが取り付けられる第1のコンポーネントと、前記駆動エレメントが内部で動作可能とされた第2のコンポーネントの、2つのコンポーネントを有しており、前記ロードセル構造が、前記第1のコンポーネントと前記第2のコンポーネントの間に挟まれている請求項1〜9の何れか1項に記載の駆動ユニット。 - 前記ハウジングの前記第2のコンポーネントは、前記駆動軸の周りの前記駆動エレメントの回転を防止するように構成されている請求項10に記載の駆動ユニット。
- 各前記モータと前記リードスクリューの間にスプライン結合を有しており、各前記スプライン結合は、各前記モータと各前記リードスクリュー間の軸方向の遊びを許容するように構成されている請求項10または11に記載の駆動ユニット。
- 駆動ユニットは、実質的に添付図面の図3〜図10を参照して記述されている。
- 外科用器具との係合のために配置された請求項1〜13のいずれか1項に記載の駆動ユニットを備えていることを特徴とする外科用ロボット。
- 前記駆動ユニットは、前記ロボットの前記アームの先端に配置されている請求項14に記載の外科用ロボット。
- 実質的に添付図面を参照して記述されている駆動ユニットを備えている外科用ロボット。
- 前記外科用ロボットは、前記駆動ユニットを備える可動性のアームと、前記アームに係合された外科用器具と、を有しており、前記器具は、前記対応するエレメントを備え、前記対応するエレメントは、それによって駆動されるように前記駆動エレメントに係合されている請求項14〜16のいずれか1項に記載の外科用ロボット。
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
GB1506710.1 | 2015-04-21 | ||
GBGB1506710.1A GB201506710D0 (en) | 2015-04-21 | 2015-04-21 | Load cells in an instrument drive |
PCT/GB2016/051079 WO2016170315A1 (en) | 2015-04-21 | 2016-04-20 | Load cells in an instrument drive |
Publications (2)
Publication Number | Publication Date |
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JP2018517893A true JP2018517893A (ja) | 2018-07-05 |
JP6720207B2 JP6720207B2 (ja) | 2020-07-08 |
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Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
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JP2017554257A Active JP6720207B2 (ja) | 2015-04-21 | 2016-04-20 | 器具駆動装置内のロードセル |
Country Status (7)
Country | Link |
---|---|
US (2) | US10653487B2 (ja) |
EP (1) | EP3286537B1 (ja) |
JP (1) | JP6720207B2 (ja) |
CN (1) | CN107532954B (ja) |
ES (1) | ES2717835T3 (ja) |
GB (2) | GB201506710D0 (ja) |
WO (1) | WO2016170315A1 (ja) |
Families Citing this family (9)
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US10213266B2 (en) | 2014-02-07 | 2019-02-26 | Covidien Lp | Robotic surgical assemblies and adapter assemblies thereof |
GB201506710D0 (en) * | 2015-04-21 | 2015-06-03 | Cambridge Medical Robotics Ltd | Load cells in an instrument drive |
USD873417S1 (en) * | 2017-05-30 | 2020-01-21 | Cmr Surgical Limited | Surgical robot arm |
JP6543687B1 (ja) * | 2017-12-26 | 2019-07-10 | ミネベアミツミ株式会社 | 荷重センサおよび荷重センサ一体型多軸アクチュエータ |
CA3027530A1 (en) * | 2018-02-02 | 2019-08-02 | Covidien Lp | Robotic surgical assemblies and adapter assemblies thereof |
CN108210090A (zh) * | 2018-02-26 | 2018-06-29 | 重庆邮电大学 | 一种力感知手术器械驱动装置 |
CN109806005A (zh) * | 2019-03-22 | 2019-05-28 | 重庆金山医疗机器人有限公司 | 一种便于定位的手术机器人机械臂横梁 |
WO2021147268A1 (zh) * | 2020-01-23 | 2021-07-29 | 诺创智能医疗科技(杭州)有限公司 | 手术机械臂及手术机器人 |
EP4125688A4 (en) * | 2020-03-31 | 2024-02-21 | Auris Health, Inc. | SYSTEMS AND METHODS FOR MOUNTING ROBOTIC COMPONENTS ON A LOAD CELL |
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JP6684289B2 (ja) * | 2015-03-10 | 2020-04-22 | コヴィディエン リミテッド パートナーシップ | ロボット手術システム、器具駆動ユニット、及び駆動アセンブリ |
GB201506710D0 (en) * | 2015-04-21 | 2015-06-03 | Cambridge Medical Robotics Ltd | Load cells in an instrument drive |
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2015
- 2015-04-21 GB GBGB1506710.1A patent/GB201506710D0/en not_active Ceased
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2016
- 2016-04-20 WO PCT/GB2016/051079 patent/WO2016170315A1/en active Application Filing
- 2016-04-20 GB GB1606848.8A patent/GB2538859B/en active Active
- 2016-04-20 CN CN201680022604.3A patent/CN107532954B/zh active Active
- 2016-04-20 EP EP16718857.2A patent/EP3286537B1/en active Active
- 2016-04-20 US US15/563,839 patent/US10653487B2/en active Active
- 2016-04-20 JP JP2017554257A patent/JP6720207B2/ja active Active
- 2016-04-20 ES ES16718857T patent/ES2717835T3/es active Active
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2020
- 2020-04-14 US US16/848,734 patent/US11045266B2/en active Active
Patent Citations (4)
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JPH0224349U (ja) * | 1988-07-29 | 1990-02-19 | ||
JP2007125404A (ja) * | 1996-02-20 | 2007-05-24 | Computer Motion Inc | 侵襲を最小に抑えた心臓手術を施術するための方法および装置 |
JP2011517421A (ja) * | 2008-03-27 | 2011-06-09 | セント・ジュード・メディカル・エイトリアル・フィブリレーション・ディヴィジョン・インコーポレーテッド | ロボットカテーテル装置用カートリッジ |
US20130172713A1 (en) * | 2011-12-29 | 2013-07-04 | Mark B. Kirschenman | Drive assembly for use in a robotic control and guidance system |
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GB2538859B (en) | 2020-09-16 |
EP3286537B1 (en) | 2019-02-27 |
US20200281668A1 (en) | 2020-09-10 |
CN107532954A (zh) | 2018-01-02 |
US10653487B2 (en) | 2020-05-19 |
CN107532954B (zh) | 2019-12-24 |
WO2016170315A1 (en) | 2016-10-27 |
US20180071035A1 (en) | 2018-03-15 |
ES2717835T3 (es) | 2019-06-25 |
EP3286537A1 (en) | 2018-02-28 |
GB201506710D0 (en) | 2015-06-03 |
GB2538859A (en) | 2016-11-30 |
JP6720207B2 (ja) | 2020-07-08 |
US11045266B2 (en) | 2021-06-29 |
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