JP2018518280A - ロボット外科手術アセンブリ - Google Patents
ロボット外科手術アセンブリ Download PDFInfo
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- 230000013011 mating Effects 0.000 claims description 14
- 230000005540 biological transmission Effects 0.000 description 3
- 230000002093 peripheral effect Effects 0.000 description 3
- 230000002596 correlated effect Effects 0.000 description 2
- 230000000875 corresponding effect Effects 0.000 description 2
- 238000009429 electrical wiring Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
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- 230000004888 barrier function Effects 0.000 description 1
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- 238000004590 computer program Methods 0.000 description 1
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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
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
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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
- A61B17/28—Surgical forceps
- A61B17/29—Forceps for use in 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
-
- 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
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/0046—Surgical instruments, devices or methods, e.g. tourniquets with a releasable handle; with handle and operating part separable
- A61B2017/00473—Distal part, e.g. tip or head
-
- 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
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/00831—Material properties
- A61B2017/00902—Material properties transparent or translucent
- A61B2017/00907—Material properties transparent or translucent for light
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- 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)
- Ophthalmology & Optometry (AREA)
- Manipulator (AREA)
- Surgical Instruments (AREA)
Abstract
Description
本願は、2015年6月19日に出願された米国仮特許出願第62/181,817号の利益、及びこれに対する優先権を主張し、その開示全体が参照により本明細書に組み込まれる。
Claims (16)
- ロボットアーム用及びロボットアームへの選択的接続のための外科手術アセンブリであって、前記外科手術アセンブリは、
電気機械的器具であって、
内部に被駆動部材を支持するハウジング部分と、
前記ハウジング部分により支持される近位端、及び前記被駆動部材に動作可能に連結されるエンドエフェクタを有する遠位端を有するシャフトと、を備える、電気機械的器具と、
器具駆動ユニットであって、
ロボットアームに選択的に連結されるように構成される外側シェルと、
前記外側シェル内部に回転可能に配置されかつ前記電気機械的器具の前記ハウジング部分に回転不能に連結されるように構成される内側ハブと、
前記外側シェル内部に配置され、かつ前記電気機械的器具の前記被駆動部材に動作可能に連結されるように構成される第1のモータと、
前記外側シェル内部に配置される第2のモータと、を含み、前記第2のモータは、
前記外側シェルに固定されて連結される外側ステータと、
前記外側ステータ内部に回転可能に配置される内側ロータと、を含み、前記内側ロータは、内部に回転不能に配置される前記内側ハブを有する長手方向チャネルを画定する内側表面を有し、前記第2のモータの作動が前記内側ハブを回転させ、前記電気機械的器具の、その長手方向軸に沿った回転を引き起こす、器具駆動ユニットと、を備える、外科手術アセンブリ。 - 前記器具駆動ユニットは、前記内側ロータと前記内側ハブとの間に配置される外側ハブをさらに含み、前記外側ハブが前記内側ハブに前記内側ロータの回転運動を伝達するようになっている、請求項1に記載の外科手術アセンブリ。
- 前記器具駆動ユニットは、前記外側シェル内部に回転可能に配置され、かつ前記内側ハブに連結される近位端と、前記電気機械的器具の近位端に連結されるように構成される遠位端とを有する内側シェルをさらに含み、前記内側シェルが前記電気機械的器具に前記内側ハブの回転運動を伝達するようになっている、請求項2に記載の外科手術アセンブリ。
- 前記ロボットアームに移動可能に接続されるように構成される第1の部分と、開口部を画定し、それを通して前記器具駆動ユニットを収容するように構成される第2の部分とを有するスライダをさらに備える、請求項3に記載の外科手術アセンブリ。
- 前記器具駆動ユニットの遠位端は、雌嵌合機構を画定し、前記電気機械的器具の前記ハウジング部分の近位端は、前記器具駆動ユニットの前記雌嵌合機構と回転不能に係合するように構成される雄嵌合機構を画定する、請求項1に記載の外科手術アセンブリ。
- 前記ハウジング部分は、前記器具駆動ユニットの前記第1のモータに駆動しながら連結されるように構成される入力駆動連結器をさらに含む、請求項1に記載の外科手術アセンブリ。
- 前記器具駆動ユニットの前記外側シェルが透明である、請求項1に記載の外科手術アセンブリ。
- 前記内側ロータの前記長手方向チャネルを通って延在し、かつ前記第1のモータに電力を転送するように構成されるワイヤをさらに備える、請求項1に記載の外科手術アセンブリ。
- ロボット外科手術システムであって、
外科手術ロボットアームと、
前記外科手術ロボットアームに移動可能に接続されるように構成される第1の部分、及び第2の部分を有するスライダと、
電気機械的器具であって、
内部に被駆動部材を支持するハウジング部分と、
前記ハウジング部分により支持される近位端、及び前記被駆動部材に動作可能に連結されるエンドエフェクタを有する遠位端を有するシャフトと、を備える電気機械的器具と、
器具駆動ユニットであって、
前記スライダの前記第2の部分に選択的に連結されるように構成される外側シェルと、
前記外側シェル内部に回転可能に配置され、かつ前記電気機械的器具の前記ハウジング部分に回転不能に連結されるように構成される内側ハブと、
前記外側シェル内部に配置され、かつ前記電気機械的器具の前記被駆動部材に動作可能に連結されるように構成される第1のモータと、
前記外側シェル内部に配置される第2のモータと、を含み、前記第2のモータは、
前記外側シェルに固定されて連結される外側ステータと、
前記外側ステータ内部に回転可能に配置される内側ロータと、を備え、前記内側ロータは、内部に回転不能に配置される前記内側ハブを有する長手方向チャネルを画定する内側表面を有し、前記第2のモータの作動が、前記内側ハブを回転させ、前記電気機械的器具の、その長手方向軸に沿った回転を引き起こす、器具駆動ユニットと、を備える、ロボット外科手術システム。 - 前記器具駆動ユニットは、前記内側ロータと前記内側ハブとの間に配置される外側ハブをさらに含み、前記外側ハブが前記内側ハブに前記内側ロータの回転運動を伝達するようになっている、請求項9に記載のロボット外科手術システム。
- 前記器具駆動ユニットは、前記外側シェル内部に回転可能に配置され、かつ前記内側ハブに連結される近位端と、前記電気機械的器具の近位端に連結されるように構成される遠位端とを有する内側シェルをさらに含み、前記内側シェルが前記電気機械的器具に前記内側ハブの回転運動を伝達するようになっている、請求項10に記載のロボット外科手術システム。
- 前記器具駆動ユニットの遠位端は、雌嵌合機構を画定し、前記電気機械的器具の前記ハウジング部分の近位端は、前記器具駆動ユニットの前記雌嵌合機構に回転不能に係合するように構成される雄嵌合機構を画定する、請求項9に記載のロボット外科手術システム。
- 前記ハウジング部分は、前記器具駆動ユニットの前記第1のモータに駆動しながら連結されるように構成される入力駆動連結器をさらに含む、請求項9に記載のロボット外科手術システム。
- 前記器具駆動ユニットの前記外側シェルが透明である、請求項9に記載のロボット外科手術システム。
- 前記内側ロータの前記長手方向チャネルを通って延在し、かつ前記第1のモータに電力を転送するように構成されるワイヤをさらに備える、請求項9に記載のロボット外科手術システム。
- 前記外科手術ロボットアームは、長手方向軸を画定するトラックを含み、前記スライダが前記トラックの前記長手方向軸に沿って移動可能である、請求項9に記載のロボット外科手術システム。
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US201562181817P | 2015-06-19 | 2015-06-19 | |
US62/181,817 | 2015-06-19 | ||
PCT/US2016/037515 WO2016205288A1 (en) | 2015-06-19 | 2016-06-15 | Robotic surgical assemblies |
Publications (2)
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JP2018518280A true JP2018518280A (ja) | 2018-07-12 |
JP6697487B2 JP6697487B2 (ja) | 2020-05-20 |
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JP2017564879A Expired - Fee Related JP6697487B2 (ja) | 2015-06-19 | 2016-06-15 | ロボット外科手術アセンブリ |
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US (1) | US10675104B2 (ja) |
EP (1) | EP3310287B1 (ja) |
JP (1) | JP6697487B2 (ja) |
CN (1) | CN107771063B (ja) |
AU (1) | AU2016280014B2 (ja) |
CA (1) | CA2987638A1 (ja) |
WO (1) | WO2016205288A1 (ja) |
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WO2016205288A1 (en) | 2016-12-22 |
CA2987638A1 (en) | 2016-12-22 |
CN107771063A (zh) | 2018-03-06 |
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CN107771063B (zh) | 2020-12-04 |
EP3310287B1 (en) | 2022-04-20 |
EP3310287A1 (en) | 2018-04-25 |
AU2016280014B2 (en) | 2020-07-09 |
EP3310287A4 (en) | 2019-02-20 |
JP6697487B2 (ja) | 2020-05-20 |
US10675104B2 (en) | 2020-06-09 |
AU2016280014A1 (en) | 2017-12-07 |
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