JP2019122793A - 最小侵襲性切断器具操作のためのシステム及び方法 - Google Patents
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Abstract
Description
この特許出願は、2015年5月15日に出願された「SYSTEM AND METHOD FOR MINIMALLY INVASIVE CUTTING INSTRUMENT OPERATION」という名称の米国仮特許出願第62/162,217号の優先権及び利益を主張し、その全文を本明細書中に参照として援用する。
Claims (15)
- コンピュータ支援デバイスと共に使用する切断器具であって、
駆動ユニットと、
当該切断器具の遠位端に配置されるエンドエフェクタであって、対向する把持ジョーと、切断ブレードとを含む、エンドエフェクタと、
前記駆動ユニットと前記エンドエフェクタとの間のシャフトであって、前記駆動ユニットからの力又はトルクを前記エンドエフェクタに結合する1つ又はそれよりも多くの駆動機構を収容するシャフトと、
前記切断ブレードが使用されていないときに前記切断ブレードを収容するガレージとを含み、
切断操作を実行するために、当該切断器具は、力又はトルク限界プロファイルに従って前記切断ブレードを作動させるように構成され、
前記力又はトルク限界プロファイルは、
前記切断ブレードを第1の位置から第2の位置まで延伸させるときに使用される第1の力又はトルク限界と、
前記切断ブレードを前記第2の位置から前記第1の位置と前記第2の位置との間の第3の位置まで後退させ、更に、前記切断ブレードを前記第1の位置まで後退させるときに使用される、第2の力又はトルク限界と、
前記切断ブレードが前記第1の位置にある間に使用される第3の力又はトルク限界とを含む、
切断器具。 - 前記把持ジョーのうちの1つ又はそれよりも多くは、前記延伸及び前記後退中に前記切断ブレードを案内するのを助ける溝を含む、請求項1に記載の切断器具。
- 前記第1の位置は、前記ガレージ内にある、請求項1又は2に記載の切断器具。
- 前記第3の位置は、前記切断ブレードが前記ガレージの直ぐ外側まで後退させられる位置に対応する、請求項1乃至3のうちのいずれか1項に記載の切断器具。
- 当該切断器具は、前記切断ブレードを前記第3の位置まで後退させる前に前記切断ブレードを前記第2の位置に保持するように更に構成される、請求項1乃至4のうちのいずれか1項に記載の切断器具。
- 前記切断操作中に、前記切断ブレードは、前記第1、第2、及び第3の力又はトルク限界で制約された位置プロファイルに従うように更に命令され、該位置プロファイルは、前記第1、第2、及び第3の位置の間で前記切断ブレードについての滑らかな軌跡を描く所望の位置の時間シーケンスを含む、請求項1乃至5のうちのいずれか1項に記載の切断器具。
- 前記第1の力又はトルク限界の大きさ及び前記第2の力又はトルク限界の大きさは、同じ力又はトルク限界の大きさである、請求項1乃至6のうちのいずれか1項に記載の切断器具。
- 前記第1の力又はトルク限界の大きさは、前記第2の力又はトルク限界の大きさよりも大きい、請求項1乃至6のうちのいずれか1項に記載の切断器具。
- 前記第3の力又はトルク限界の大きさは、前記第2の力又はトルク限界の大きさよりも小さい、請求項1乃至8のうちのいずれか1項に記載の切断器具。
- 前記第2の力又はトルク限界の大きさ及び前記第3の力又はトルク限界の大きさは、同じ力又はトルク限界である、請求項1乃至8のうちのいずれか1項に記載の切断器具。
- 前記第2の力又はトルク限界の大きさと前記第3の力又はトルク限界の大きさとの間の差は、前記切断ブレードを前記第1の位置に維持するのを助けるために使用される拘束機構によって加えられる力又はトルクに基づく、請求項10に記載の切断器具。
- 切断器具の作動方法であって、
前記切断器具の駆動ユニットを第1の力又はトルク限界で作動させて、切断ブレードを第1の位置から第2の位置まで延伸させるステップと、
前記駆動ユニットを第2の力又はトルク限界で作動させて、前記切断ブレードを前記第2の位置から前記第1の位置と前記第2の位置との間の第3の位置まで後退させるステップと、
前記駆動ユニットを前記第2の力又はトルク限界で作動させて、前記切断ブレードを前記第3の位置から前記第1の位置まで後退させるステップと、
前記駆動ユニットを第3の力又はトルク限界で作動させて、前記切断ブレードを前記第1の位置に保持するステップとを含む、
作動方法。 - 前記第1の位置は、ガレージ内にある、請求項12に記載の作動方法。
- 前記第3の位置は、前記切断ブレードが前記ガレージの直ぐ外側まで後退させられる位置に対応する、請求項12又は13に記載の作動方法。
- 前記切断ブレードを前記第3の位置まで後退させる前に前記切断ブレードを前記第2の位置に保持するステップを更に含む、請求項12乃至14のうちのいずれか1項に記載の作動方法。
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