JP2020096807A - ロボット支援管腔内手術のためのシステムおよび関連する方法 - Google Patents
ロボット支援管腔内手術のためのシステムおよび関連する方法 Download PDFInfo
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Abstract
Description
本出願は、2013年10月24日に出願された米国特許仮出願第61/895,312号(代理人ドケット番号41663-711.101);2013年10月24日に出願された米国特許仮出願第61/895,315号(代理人ドケット番号41663-712.101);2013年10月25日に出願された米国特許仮出願第61/895,602号(代理人ドケット番号41663-713.101);2014年2月14日に出願された米国特許仮出願第61/940,180号(代理人ドケット番号41663-714.101);2014年7月1日に出願された米国特許仮出願第62/019,816号(代理人ドケット番号41663-713.102);および2014年8月14日に出願された米国特許仮出願第62/037,520号(代理人ドケット番号41663-715.101)への優先権を主張する。これらの出願の全内容が参照により本明細書に組み入れられる。
本出願の分野は医療装置に関する。より具体的には、本発明の分野は、ロボット支援管腔内手術のためのシステムおよびツールに関する。
内視鏡検査は、画像撮影および人体内の解剖学的位置への治療薬送達の両方に広く使用されている最小侵襲技術である。一般に、処置が実施される体内の手術部位にツールを送達するために(たとえば、小さな切開部または体の自然な開口部(鼻、肛門、膣、尿道、喉など)を通して)フレキシブル内視鏡が使用される。内視鏡は、非直線の管腔または経路のナビゲーションを可能にする可撓性シャフトの末端で、画像撮影、照明および操舵能力を有し得る。
[本発明1001]
基端および末端部分を有する第一のロボットアームと、
第一のロボットアームの該末端部分に結合された第一の機構交換インタフェースと、
患者内の手術部位において外科的処置を実施するように構成されているロボット駆動ツールを操作するように構成されており、第一の機構交換インタフェースに結合されており、駆動ユニットを含む、第一の器具装置マニピュレータと
を含む、ロボット支援外科的処置を実施するためのシステム。
[本発明1002]
駆動ユニットがモータを含む、本発明1001のシステム。
[本発明1003]
第一の器具装置マニピュレータが、機構交換インタフェースおよび第一のロボットアームから解放可能に係合解除できるように構成されている、本発明1001のシステム。
[本発明1004]
第一の機構交換インタフェースが、複数の器具装置マニピュレータとインタフェースするように構成されている、本発明1001のシステム。
[本発明1005]
第一の機構交換インタフェースが、電気信号を第一のロボットアームから第一の器具装置マニピュレータへと運ぶように構成されている、本発明1001のシステム。
[本発明1006]
細長い一次ボディを含む、第一の器具装置マニピュレータに結合された内視鏡ツールをさらに含む、本発明1001のシステム。
[本発明1007]
細長い一次ボディの末端部分に電磁トラッカが結合されている、本発明1006のシステム。
[本発明1008]
細長い一次ボディの末端部分に加速度計が結合されている、本発明1006のシステム。
[本発明1009]
細長い一次ボディが、
細長い一次ボディの中立軸と縦方向に整合した作業チャネルと、
作業チャネルの周囲でらせん状に斜めに整合したプルルーメンと
を含む、本発明1006のシステム。
[本発明1010]
らせんの角度が細長い一次ボディの長さに沿って変化する、本発明1009のシステム。
[本発明1011]
細長い一次ボディの末端部分に固く結合された、第一の器具装置マニピュレータに応答する細長い腱をプルルーメンが含む、本発明1009のシステム。
[本発明1012]
内視鏡ツールがさらに、細長い一次ボディの周囲で縦方向に整合している細長い二次ボディを含み、細長い一次ボディが基端部分および末端部分を含み、かつデジタルカメラが末端に結合されている、本発明1006のシステム。
[本発明1013]
第二の機構交換インタフェースを介して第二の器具装置マニピュレータに結合された第二のロボットアームをさらに含み、
第二の器具装置マニピュレータが内視鏡ツールに結合されており、かつ
第一の器具装置マニピュレータおよび第二の器具装置マニピュレータが、整合すると、内視鏡ツールを操作するための仮軌道を形成するように構成されている、
本発明1012のシステム。
[本発明1014]
第一の器具装置マニピュレータが細長い二次ボディを機能的に制御し、第二の器具装置マニピュレータが細長い一次ボディを機能的に制御する、本発明1013のシステム。
[本発明1015]
第一のロボットアームおよび第二のロボットアームが可動システムカートに結合されている、本発明1013のシステム。
[本発明1016]
第一のロボットアームおよび第二のロボットアームが、患者を保持するように構成されている手術台に結合されている、本発明1013のシステム。
[本発明1017]
システムカートが、センサデータをコマンドコンソールに送り、該コマンドコンソールからコマンド信号を受けるように構成されている、本発明1015のシステム。
[本発明1018]
コマンドコンソールがシステムカートから切り離されている、本発明1017のシステム。
[本発明1019]
コマンドコンソールが、表示モジュールと、内視鏡ツールを制御するための制御モジュールとを含む、本発明1017のシステム。
[本発明1020]
制御モジュールがジョイスティックコントローラである、本発明1019のシステム。
特定の好ましい態様および例が以下に開示されるが、本発明の主題は、具体的に開示される態様を超えて他の代替態様および/または使用ならびにそれらの変形および均等物に及ぶ。したがって、明細書に付随する特許請求の範囲は、以下に記す特定の態様のいずれによっても限定されない。たとえば、本明細書に開示される任意の方法またはプロセスにおいて、方法またはプロセスの行為または動作は、任意の適当な順序で実施され得、必ずしも、開示される任意の特定の順序に限定されない。他方、特定の態様の理解に役立ち得るようなやり方で様々な動作が複数の別々の動作として記載されることもあるが、記載の順序は、それらの動作が順序依存性であることを暗示するものと解釈されるべきではない。加えて、本明細書に記載される構造、システムおよび/または装置は、統合された部品として具現化されてもよいし、または別々の部品として具現化されてもよい。
管腔内外科手術ロボットシステムは、やっかいな腕の動きおよび位置を要することなく、エルゴノミクス的な位置に着座し、ロボット内視鏡ツールを患者内の所望の解剖学的位置に制御する能力を外科医に提供する。
図1は、本発明の態様のロボット内視鏡システムである。図1に示すように、ロボットシステム100は、少なくとも一つのメカニカルアーム、たとえばアーム102を有するシステムカート101を含み得る。システムカート101は、遠隔に位置するコマンドコンソール(図示せず)と通信状態にあり得る。実際、システムカート101は、医師がコマンドコンソールから快適にシステム100を制御し得る間、患者へのアクセスを提供するように配置され得る。いくつかの態様において、システムカート100は、安定性および患者へのアクセスのために、手術台またはベッドに統合されてもよい。
アーム102の基端はカート101に固く取付けまたは結合され得る。メカニカルアーム102は、アーム一つあたり少なくとも一つのジョイント、たとえばジョイント111によって接続された複数のリンケージ110を含む。メカニカルアーム102がロボットアームであるならば、ジョイント111は、少なくとも一つの自由度の動きに作用するために、一つまたは複数のアクチュエータを含み得る。アーム102は、全体として、好ましくは、三つよりも多い自由度を有する。ワイヤおよび回路の組み合わせを通して、各アームはまた、パワーおよび制御信号をシステムカート101からアームの末端に位置する器具へと運び得る。
システム100中のアーム102は、多様な処置に使用するために多様な姿勢に配置され得る。たとえば、システム100のアーム102は、別のロボットシステムと組み合わさって、そのIDMを整合させて、内視鏡ツール118の挿入および操作を容易にする「仮軌道」を形成するように配置され得る。他の処置の場合、アームは異なるふうに配置され得る。したがって、システム100中のアームの使用は、特定の医療処置と直に結び付く設計を有するロボットシステムには見られない融通性を提供する。システム100のアームは、潜在的にはるかに大きい行程および積荷能力を提供する。
図1に戻ると、ロボット外科手術システム100は、たとえばIDM117およびツール118(エンドエフェクタとも知られる)を交換することによって複数の外科手術システム構成を提供するようなやり方で構成され得る。システムは、手術室中の様々な場所または好都合な近場に設置された一つまたは複数の可動ロボットプラットフォームを含み得る。各プラットフォームは、プラットフォームに結合されるロボットアームのためのパワー、空気圧、照明光源、データ通信ケーブルおよび制御電子部品のいくつかまたはすべてを提供し得、モジュールもまた、これらのユーティリティから供給を受け得る。または、システム100は、一つまたは複数の可動カート101に取り付けられた複数のアーム102を有してもよいし、またはアームは、複数の外科手術構成を提供するために、フロアに取り付けられてもよい。
図9Aは、本発明の態様の、マニピュレータを含むロボット医療システムの一部分を示す。システム900は、ロボットアーム901、関節インタフェース902、器具装置マニピュレータ(「IDM」)903および内視鏡ツール904の部分図を含む。いくつかの態様において、ロボットアーム901は、単に、複数のジョイントおよびリンケージを有するより大きなロボットアームのリンケージであってもよい。関節インタフェース902はIDM903をロボットアーム901に結合する。結合に加えて、関節インタフェース902はまた、空気圧、パワー信号、制御信号およびフィードバック信号をアーム901およびIDM903へと、およびそれらから伝達し得る。
好ましい態様において、図1のロボットシステム100は、管腔内処置のためにカスタマイズされたツール、たとえば内視鏡ツール118を駆動し得る。図14は、本発明の態様の、図1のロボットシステム100とともに使用され得る内視鏡ツールの図である。内視鏡ツール1400は、「シース」および「リーダ」と呼ばれる、入れ子式に収容された縦方向に整合した管状ボディの周囲に配置され得る。外径が大きいほうの管状ツールであるシース1401は、基端シース部分1402、末端シース部分1403および中央シースルーメン(図示せず)で構成され得る。シースベース1404に受けられた信号により、末端シース部分1403を術者の所望の方向に屈曲させ得る。シース1401内には、外径が小さいほうのリーダ1405が入れ子式に収容されている。リーダ1405は、基端リーダ部分1406および末端リーダ部分1407および中央作業チャネルを含み得る。シースベース1404と同様に、リーダベース1408は、多くの場合、IDM(たとえば図9Aの903)からリーダベース1408に送られる制御信号に基づいて末端リーダ部分1407の屈曲を制御する。
背景として、操舵可能なカテーテルは、旧来、プルルーメンを組機、すなわち編組機に入れ、ポリマージャケットを編組ワイヤ上に適用した状態で、ワイヤまたは繊維、すなわち編組ワイヤをプロセスマンドレルの周囲に編組することによって製造される。シースおよびリーダ内視鏡ツールの態様は、操舵可能なカテーテルの構成方法の局面を使用して構成され得る。
本発明の態様において、解剖学的管腔中の内視鏡ツールのナビゲーションは、低線量コンピュータ断層撮影(CT)スキャンによって生成された二次元画像の収集に基づくコンピュータ生成三次元マップの使用を含み得る。術前処置中に患者の内部構造の断面をそれぞれが表す二次元CTスキャンを収集し得る。これらのスキャンを解析して、患者内の空洞および解剖学的空間、たとえば肺の気管支または尿道の経路を決定し得る。
図29Aは、本発明の態様の、解剖学的管腔内の内視鏡ツールの末端を示す。図29A中、シャフト2901を含む内視鏡ツール2900が、手術部位2903に向かって解剖学的管腔2902中をナビゲートされる状態で示されている。ナビゲーション中、シャフト2901は非屈曲状態であり得る。
図1のシステム100に関して説明したように、コマンドコンソールの態様が、術者、すなわち医師がロボット管腔内システムをエルゴノミクス的位置から遠隔制御することを可能にする。好ましい態様において、コマンドコンソールは、(i)術者がロボット内視鏡ツールを制御することを可能にし、かつ(ii)エルゴノミクス的位置からナビゲーション環境を表示する、ユーザインタフェースを利用する。
Claims (20)
- 基端および末端部分を有する第一のロボットアームと、
第一のロボットアームの該末端部分に結合された第一の機構交換インタフェースと、
患者内の手術部位において外科的処置を実施するように構成されているロボット駆動ツールを操作するように構成されており、第一の機構交換インタフェースに結合されており、駆動ユニットを含む、第一の器具装置マニピュレータと
を含む、ロボット支援外科的処置を実施するためのシステム。 - 駆動ユニットがモータを含む、請求項1記載のシステム。
- 第一の器具装置マニピュレータが、機構交換インタフェースおよび第一のロボットアームから解放可能に係合解除できるように構成されている、請求項1記載のシステム。
- 第一の機構交換インタフェースが、複数の器具装置マニピュレータとインタフェースするように構成されている、請求項1記載のシステム。
- 第一の機構交換インタフェースが、電気信号を第一のロボットアームから第一の器具装置マニピュレータへと運ぶように構成されている、請求項1記載のシステム。
- 細長い一次ボディを含む、第一の器具装置マニピュレータに結合された内視鏡ツールをさらに含む、請求項1記載のシステム。
- 細長い一次ボディの末端部分に電磁トラッカが結合されている、請求項6記載のシステム。
- 細長い一次ボディの末端部分に加速度計が結合されている、請求項6記載のシステム。
- 細長い一次ボディが、
細長い一次ボディの中立軸と縦方向に整合した作業チャネルと、
作業チャネルの周囲でらせん状に斜めに整合したプルルーメンと
を含む、請求項6記載のシステム。 - らせんの角度が細長い一次ボディの長さに沿って変化する、請求項9記載のシステム。
- 細長い一次ボディの末端部分に固く結合された、第一の器具装置マニピュレータに応答する細長い腱をプルルーメンが含む、請求項9記載のシステム。
- 内視鏡ツールがさらに、細長い一次ボディの周囲で縦方向に整合している細長い二次ボディを含み、細長い一次ボディが基端部分および末端部分を含み、かつデジタルカメラが末端に結合されている、請求項6記載のシステム。
- 第二の機構交換インタフェースを介して第二の器具装置マニピュレータに結合された第二のロボットアームをさらに含み、
第二の器具装置マニピュレータが内視鏡ツールに結合されており、かつ
第一の器具装置マニピュレータおよび第二の器具装置マニピュレータが、整合すると、内視鏡ツールを操作するための仮軌道を形成するように構成されている、
請求項12記載のシステム。 - 第一の器具装置マニピュレータが細長い二次ボディを機能的に制御し、第二の器具装置マニピュレータが細長い一次ボディを機能的に制御する、請求項13記載のシステム。
- 第一のロボットアームおよび第二のロボットアームが可動システムカートに結合されている、請求項13記載のシステム。
- 第一のロボットアームおよび第二のロボットアームが、患者を保持するように構成されている手術台に結合されている、請求項13記載のシステム。
- システムカートが、センサデータをコマンドコンソールに送り、該コマンドコンソールからコマンド信号を受けるように構成されている、請求項15記載のシステム。
- コマンドコンソールがシステムカートから切り離されている、請求項17記載のシステム。
- コマンドコンソールが、表示モジュールと、内視鏡ツールを制御するための制御モジュールとを含む、請求項17記載のシステム。
- 制御モジュールがジョイスティックコントローラである、請求項19記載のシステム。
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