JP2018532455A - ロボットエンドエフェクタを操作するためのロボット外科手術システム制御スキーム - Google Patents
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Abstract
【選択図】図2
Description
本出願は、2015年9月11日に出願された、米国仮特許出願第62/217,492号の利益及びこれに対する優先権を主張し、その全体の開示は、参照により本明細書に組み込まれる。
Claims (22)
- ロボット外科手術システムのアームに連結された外科手術器具のジョーを操作する方法であって、
器具アクセスポートに対する前記器具の位置を検出することと、
前記器具と前記アクセスポートとの間の距離が所定距離を上回るという決定に応じて、前記ジョーを電気機械的に開放することと、を含む、方法。 - 前記器具の前記ジョーの前記開放は、
前記器具の前記位置と前記アクセスポートの前記位置との間の前記距離が増加しているという決定に応じて、前記器具の前記ジョー間の距離を増加させることを含む、請求項1に記載の方法。 - 前記器具の前記ジョーの前記開放は、前記アクセスポートの前記位置に対する前記器具の前記位置との間の前記距離が増加するにつれて、前記アクセスポートの前記位置に対する前記器具の前記位置との間の前記距離の補間に基づいて比例的に、前記ジョー間の前記距離を徐々に増加させることを含む、請求項2に記載の方法。
- 前記器具の前記位置と前記アクセスポートの前記位置との間の前記距離が前記所定距離未満であるという決定に応じて、前記器具の前記ジョーを閉鎖することをさらに含む、請求項1に記載の方法。
- 前記器具の前記ジョーの前記閉鎖は、前記アクセスポートの前記位置に対する前記器具の前記位置との間の前記距離が減少するにつれて、前記アクセスポートの前記位置に対する前記器具の前記位置との間の前記距離の補間に基づいて比例的に、前記ジョー間の前記距離を徐々に減少させることを含む、請求項4に記載の方法。
- 前記器具は、前記アクセスポートと同軸の方向に移動可能であり、
前記器具の前記ジョーの前記開放は、前記アクセスポートの前記位置に対する前記アクセスポートと同軸の前記方向に沿った前記器具の高さの補間に基づいて、前記ジョー間の距離を増加させることを含む、請求項1に記載の方法。 - 前記所定距離は、距離の範囲を含み、前記器具の前記位置と前記アクセスポートの位置との間の前記距離が前記距離の範囲内であるという決定に応じて、前記器具の前記ジョーを閉鎖位置に維持する、請求項1に記載の方法。
- アームと、
前記アームに連結された細長い取り付け具であって、近位端及び遠位端を有する細長い取り付け具と、
前記細長い取り付け具に連結され、かつ前記近位端と前記遠位端との間で移動可能である器具であって、開放位置と閉鎖位置との間で移動可能なジョーを含む、器具と、
前記アーム、前記細長い取り付け具、及び前記器具と通信するプロセッサと、
前記プロセッサに連結されたメモリであって、前記プロセッサにより実行されるときに、前記処理ユニットに、
前記器具が通過する器具アクセスポートに対する前記器具の位置を検出させ、かつ
前記器具の前記位置と前記アクセスポートの位置との間の距離が所定距離を上回るという決定に応じて、前記器具の前記ジョーを開放させる、命令を含む、メモリと、を含む、ロボット外科手術システム。 - 前記メモリは、前記プロセッサにより実行されるときに、前記プロセッサに、
前記器具の前記位置と前記アクセスポートの前記位置との間の前記距離が増加しているという決定に応じて、前記器具の前記ジョー間の距離を増加させる、命令をさらに含む、請求項8に記載のロボット外科手術システム。 - 前記メモリは、前記プロセッサにより実行されるときに、前記プロセッサに、
前記アクセスポートの前記位置に対する前記器具の前記位置との間の前記距離が増加するにつれて、前記アクセスポートの前記位置に対する前記器具の前記位置との間の前記距離の補間に基づいて比例的に、前記ジョー間の前記距離を徐々に増加させる、命令をさらに含む、請求項9に記載のロボット外科手術システム。 - 前記メモリは、前記プロセッサにより実行されるときに、前記プロセッサに、
前記器具の前記位置と前記アクセスポートの前記位置との間の前記距離が前記所定距離未満であるという決定に応じて、前記器具の前記ジョーを閉鎖させる、命令をさらに含む、請求項8に記載のロボット外科手術システム。 - 前記メモリは、前記プロセッサにより実行されるときに、前記プロセッサに、
前記アクセスポートの前記位置に対する前記器具の前記位置との間の前記距離が減少するにつれて、前記アクセスポートの前記位置に対する前記器具の前記位置との間の前記距離の補間に基づいて比例的に、前記ジョー間の前記距離を徐々に減少させる、命令をさらに含む、請求項11に記載のロボット外科手術システム。 - 前記メモリは、前記プロセッサにより実行されるときに、前記プロセッサに、
前記アクセスポートの前記位置に対する前記細長い取り付け具に沿った前記器具の位置の補間に基づいて、前記ジョー間の距離を増加させることによって、前記器具の前記ジョーを開放させる、命令をさらに含む、請求項8に記載のロボット外科手術システム。 - 前記所定距離は、距離の範囲を含み、前記器具の前記位置と前記アクセスポートの位置との間の前記距離が前記距離の範囲内であるという決定に応じて、前記器具の前記ジョーを閉鎖位置に維持する、請求項8に記載のロボット外科手術システム。
- ロボット外科手術システムを制御するための命令を含むコンピュータプログラム製品を格納する、非一過性コンピュータ可読媒体であって、前記ロボット外科手術システムが、ジョーを備える器具を有するアームと、前記アームに各々が連結されたアクセスポートとを含み、前記命令が、プロセッサにより実行されるときに、
前記器具の位置を検出し、かつ
前記器具の前記位置と前記アクセスポートの位置との間の距離が所定距離を上回るという決定に応じて、前記器具の前記ジョーを開放する、ように動作可能である、非一過性コンピュータ可読媒体。 - 前記命令は、前記プロセッサにより実行されるときに、
前記器具の前記位置と前記アクセスポートの前記位置との間の前記距離が増加しているという決定に応じて、前記器具の前記ジョー間の距離の増加をさらに引き起こす、請求項15に記載の非一過性コンピュータ可読媒体。 - 前記命令は、前記プロセッサにより実行されるときに、前記アクセスポートの前記位置に対する前記器具の前記位置との間の前記距離が増加するにつれて、前記アクセスポートの前記位置に対する前記器具の前記位置との間の前記距離の補間に基づいて比例的に、前記ジョー間の前記距離を徐々に増加させることをさらに引き起こす、請求項16に記載の非一過性コンピュータ可読媒体。
- 前記命令は、前記プロセッサにより実行されるときに、
前記器具の前記位置と前記アクセスポートの前記位置との間の前記距離が前記所定距離未満であるという決定に応じて、前記器具の前記ジョーの閉鎖をさらに引き起こす、請求項15に記載の非一過性コンピュータ可読媒体。 - 前記器具の前記ジョーの前記閉鎖は、前記アクセスポートの前記位置に対する前記器具の前記位置との間の前記距離が減少するにつれて、前記アクセスポートの前記位置に対する前記器具の前記位置との間の前記距離の補間に基づいて比例的に、前記ジョー間の前記距離を徐々に減少させることを含む、請求項18に記載の非一過性コンピュータ可読媒体。
- 前記器具は、前記アクセスポートと同軸の方向に移動可能であり、
前記器具の前記ジョーの前記開放は、前記アクセスポートの前記位置に対する前記アクセスポートと同軸の前記方向における前記器具の高さの補間に基づいて、前記ジョー間の距離を増加させることを含む、請求項15に記載の非一過性コンピュータ可読媒体。 - 前記所定距離は、距離の範囲を含み、前記器具の前記位置と前記アクセスポートの位置との間の前記距離が前記距離の範囲内であるという決定に応じて、前記器具の前記ジョーを閉鎖位置に維持する、請求項15に記載の非一過性コンピュータ可読媒体。
- ロボット外科手術システムのアームに連結された外科手術器具のエンドエフェクタを操作する方法であって、
器具アクセスポートに対する前記エンドエフェクタの位置を検出することと、
前記アクセスポートの開口部を通る前記エンドエフェクタの前記検出された位置に応じて、前記アクセスポートの開口部を通らない位置まで前記エンドエフェクタを電気機械的に操作することと、を含む、方法。
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WO2017044406A1 (en) | 2017-03-16 |
CN107920864B (zh) | 2021-07-16 |
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