JP2020096829A - ドリルガイド固定具、頭蓋挿入固定具、および関連する方法およびロボットシステム - Google Patents
ドリルガイド固定具、頭蓋挿入固定具、および関連する方法およびロボットシステム Download PDFInfo
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Abstract
Description
本出願は、2018年12月4日に出願された米国特許出願第16/209,266号の一部継続出願であり、これはすべての目的のためにその全体が参照により本明細書に組み込まれる。
Claims (20)
- 患者の頭蓋骨に電極ホルダを取り付けるための手術用ロボットシステムであって、前記電極ホルダが前記患者の脳に挿入されることになる電極を受けるように構成され、前記手術用ロボットシステムが、
コンピュータを備えるロボット基部と、
前記ロボット基部に連結されたロボットアームと、
前記ロボットアームに連結されるように構成されたエンドエフェクタと、
前記ガイド先端の遠位先端に配置された脱着可能な電極ホルダと、前記ガイドチューブの近位端近くに配置された追跡アレイとを有するガイドチューブであって、前記エンドエフェクタと結合するように構成されたガイドチューブと、
前記ガイドチューブの上で摺動し、前記頭蓋骨に対する前記ガイドチューブの角度の調節を可能にするように構成された三脚機構と、を備える手術用ロボットシステム。 - ガイドチューブが電極を受けるように構成された、請求項1に記載の手術用ロボットシステム。
- 前記脱着可能な電極ホルダが、前記頭蓋骨によって受けられるように構成されたねじ山を備える、請求項2に記載の手術用ロボットシステム。
- 前記ガイドチューブが、前記電極が前記頭蓋骨に導入された後に前記電極ホルダから取り外されるように構成された、請求項3に記載の手術用ロボットシステム。
- 前記追跡アレイが、カメラを介して前記ガイドチューブの角度を追跡できるように構成された、請求項4に記載の手術用ロボットシステム。
- 前記三脚機構が、前記頭蓋骨を貫通することなく前記頭蓋骨上に置かれるよう構成されうる、一つまたは複数の脚部を備える、請求項5に記載の手術用ロボットシステム。
- 前記脚部のそれぞれが、ノブを介して調節されるように構成された、請求項6に記載の手術用ロボットシステム。
- 前記一つまたは複数の脚部が前記ガイドチューブを角度調節するように構成された、請求項7に記載の手術用ロボットシステム。
- 前記三脚機構が、セットスクリューで前記ガイドチューブに一時的にロックされるように構成された、請求項8に記載の手術用ロボットシステム。
- 前記ロボット基部が、前記電極の挿入のための所望の軌道と一致する軌道において、前記頭蓋骨に隣接して前記エンドエフェクタを位置決めするように構成された、請求項9に記載の手術用ロボットシステム。
- 電極ホルダを患者の頭蓋骨に取り付けるための手術用ロボットを使用する方法であって、前記電極ホルダが前記患者の脳に挿入されることになる電極を受けるように構成され、前記方法は、
前記手術用ロボットを使用して、前記脳内へ前記電極を挿入するための軌道を計画することであって、前記手術用ロボットが、
コンピュータを備えるロボット基部と、
前記ロボット基部に連結されたロボットアームと、
前記ロボットアームに連結されるように構成されたエンドエフェクタと、
前記ガイド先端の遠位先端に配置された脱着可能な電極ホルダと、前記ガイドチューブの近位端近くに配置された追跡アレイとを有するガイドチューブであって、前記エンドエフェクタと結合するように構成されたガイドチューブと、
前記ガイドチューブの上で摺動し、前記頭蓋骨に対する前記ガイドチューブの角度の調節を可能にするように構成された三脚機構と、を備える、計画することと、
前記頭蓋骨上に動的基準ベースを位置決めすることと、
一時的なスカート固定具を前記動的基準ベースに位置決めすることと、
前記動的基準ベースおよび一時的なスカート機能の医療画像を取得することと、
前記一時的なスカート固定具を使用して、前記動的基準ベースを前記医療画像に登録することと、
前記一時的なスカート固定具を取り外すことと、
前記取得された医療画像を使用して、前記電極の軌道を計画することと、
前記ロボットアームおよびエンドエフェクタを、前記計画された軌道に沿って前記頭蓋骨に隣接した所望の位置に移動させるために前記ロボットを使用することと、
前記ロボットが前記ドリルを誘導する間、前記頭蓋骨内に穴を提供するために、ドリルを使用することと、
前記穴に前記ガイドチューブおよび電極ホルダを提供し、前記ロボットを取り外すことと、
前記三脚機構を下げて、前記ガイドチューブにロックすることと、
前記ガイドチューブへ前記追跡アレイを提供して、前記計画された軌道に対して前記ガイドの整列を確認することと、
電極を前記ガイドチューブ内に、前記電極ホルダを通して挿入することと、
前記ガイドチューブを前記電極ホルダから取り外すことと、を備える方法。 - ガイドチューブが電極を受けるように構成された、請求項11に記載の方法。
- 前記脱着可能な電極ホルダが、前記頭蓋骨によって受けられるように構成されたねじ山を備える、請求項12に記載の方法。
- 前記ガイドチューブが、前記電極が前記頭蓋骨に導入された後に前記電極ホルダから取り外されるように構成された、請求項13に記載の方法。
- 前記追跡アレイが、カメラを介して前記ガイドチューブの角度を追跡できるように構成された、請求項14に記載の方法。
- 前記三脚機構が、前記頭蓋骨を貫通することなく前記頭蓋骨上に置かれるよう構成されうる、一つまたは複数の脚部を備える、請求項15に記載の方法。
- 前記脚部のそれぞれが、ノブを介して調節されるように構成された、請求項16に記載の方法。
- 前記一つまたは複数の脚部が前記ガイドチューブを角度調節するように構成された、請求項17に記載の方法。
- 前記三脚機構が、セットスクリューで前記ガイドチューブに一時的にロックされるように構成された、請求項18に記載の方法。
- 前記ロボット基部が、前記電極の挿入のための所望の軌道と一致する軌道において、前記頭蓋骨に隣接して前記エンドエフェクタを位置決めするように構成された、請求項19に記載の方法。
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