JP2020501257A - ユーザの存在検出機能を備えたユーザコントローラ、関連システムおよび方法 - Google Patents
ユーザの存在検出機能を備えたユーザコントローラ、関連システムおよび方法 Download PDFInfo
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Abstract
Description
そのような従来の入力装置の一例が、図1〜2Bに示されている。図1は、ユーザの左手用の多自由度のユーザ入力装置8を示す。装置8とインタフェースするために、ユーザは、左手の手のひらをユーザコントローラ8の本体10上に配置し、人差し指を回転リンク14を用いて本体10に対して移動することができる人差し指インターフェース12上に配置し、親指を親指用溝16に配置する。ユーザインタフェース8の本体10は、リンク機構18を介して多自由度の位置決めまたは検知システムに結合されている。力およびトルクを供給してユーザインタフェース8を動かすために、親指インタフェース20および人差し指インタフェース22の両方によって、ユーザの手が装置8に拘束される。
本明細書で説明されるのは、ロボット手術システムを含む様々なシステムと共に使用する様々なユーザコントローラである。
第4の例は、第1の例によるユーザコントローラに関し、親指用シースの内壁に配置された発光器と、コントローラー本体に配置された受光器とをさらに備え、受光器が、発光器によって放射された光を受け取るように配置されている。
第7の例は、第1の例によるユーザコントローラに関し、親指用シース内のコントローラ本体上に配置された静電容量センサをさらに備える。
第9の例は、第1の例によるユーザコントローラに関し、親指用シースは、引き込み位置と引き出し位置との間で調整可能である。
第12の例では、ロボット手術システムは、システムコントローラと、システムコントローラに動作可能に結合されたロボット手術装置と、システムコントローラに動作可能に結合されたユーザコントローラと、を備える。ロボット手術装置は、装置本体と、装置本体に動作可能に結合された少なくとも1つのロボットアームと、ロボットアームに動作可能に結合された少なくとも1つのエンドエフェクタと、を備える。ユーザコントローラは、コントローラ本体と、コントローラ本体に結合された親指用シースと、を含み、親指用シースおよびコントローラ本体は、親指用開口部および側方開口部を区画する。
第15の例は、第12の例によるロボット手術システムに関し、親指用シースは、親指用開口部の周りに360°のエンクロージャを形成しない。
第17の例は、第16の例によるロボット手術システムに関し、親指存在センサは、光センサ、静電容量センサ、または機械的センサを含む。
第19の例は、第12の例によるロボット手術システムに関し、親指用シースの外面に配置されたフィードバック信号コンポーネントをさらに備え、フィードバック信号コンポーネントは、ユーザによって見ることができる。
複数の実施形態が開示されているが、本発明のさらなる他の実施形態は、本発明の例示的な実施形態を示し且つ説明する以下の詳細な説明から当業者には明らかになるであろう。具体化されるように、本発明は、本発明の趣旨および範囲から逸脱することなく、種々の自明の態様において修正が可能である。したがって、図面および詳細な説明は、本質的に例示的であり且つ限定的ではないと考えるべきである。
Claims (20)
- ユーザコントローラであって、
(a)コントローラ本体と、
(b)前記コントローラ本体に結合された親指用シースと、を備え、
前記親指用シースは、
(i)前記コントローラ本体から延出する第1のシース部分と、
(ii)前記第1のシース部分から延出する第2のシース部分と、を含み、
前記第2のシース部分は、前記第1のシース部分に対して横断方向にあり、
前記第1のシース部分、前記第2のシース部分、および前記コントローラ本体は、親指用開口部および開口側を区画する、ユーザコントローラ。 - 前記第1のシース部分、前記第2のシース部分、および前記コントローラ本体は、前記親指用開口部の周りに360°のエンクロージャを形成しない、請求項1に記載のユーザコントローラ。
- 前記親指用開口部内に配置された光センサをさらに備える請求項1に記載のユーザコントローラ。
- 前記親指用シースの内壁に配置された発光器と、
前記コントローラ本体上に配置された受光器と、をさらに備え、
前記受光器は、前記発光器によって放射された光を受け取るように配置される、請求項1に記載のユーザコントローラ。 - 前記コントローラ本体に配置された発光器と、
前記親指用シースの内壁に配置された受光器と、をさらに備え、
前記受光器は、前記発光器によって放射された光を受け取るように配置される、請求項1に記載のユーザコントローラ。 - 発光器および受光器をさらに備え、
前記発光器および受光器は、前記コントローラ本体上に配置される、請求項1に記載のユーザコントローラ。 - 前記親指用シース内のコントローラ本体上に配置された静電容量センサをさらに備える請求項1に記載のユーザコントローラ。
- 前記親指用シース内のコントローラ本体上に配置された機械的センサをさらに備える請求項1に記載のユーザコントローラ。
- 前記親指用シースは、引き込み位置と引き出し位置との間で調整可能である、請求項1に記載のユーザコントローラ。
- 前記親指用シースの外面に配置されたフィードバック信号コンポーネントをさらに備え、
前記フィードバック信号コンポーネントは、ユーザによって見ることができる、請求項1に記載のユーザコントローラ。 - ユーザの親指が、前記親指用開口部または前記開口側を介して前記親指用シースから離脱可能である、請求項1に記載のユーザコントローラ。
- ロボット手術システムであって、
(a)システムコントローラと、
(b)前記システムコントローラに動作可能に結合されたロボット手術装置であって、
(i)装置本体と、
(ii)前記装置本体に動作可能に結合された少なくとも1つのロボットアームと、
(iii)前記少なくとも1つのロボットアームに動作可能に結合された少なくとも1つのエンドエフェクタと、を含む前記ロボット手術装置と、
(c)前記システムコントローラに動作可能に結合されたユーザコントローラであって、
(i)コントローラ本体と、
(ii)前記コントローラ本体に結合された親指用シースと、を含む前記ユーザコントローラと、を備え、
前記親指用シースおよび前記コントローラ本体は、親指用開口部および側方開口部を区画する、ロボット手術システム。 - 前記親指用シースは、
(a)前記コントローラ本体から延出し、前記親指用開口部の第1の壁を区画する第1のシース部分と、
(b)前記第1のシース部分から延出し、前記親指用開口部の第2の壁を区画する第2のシース部分と、
(c)前記コントローラ本体によって区画された前記親指用開口部の第3の壁と、を含む、請求項12に記載のロボット手術システム。 - 前記側方開口部は、前記第2の壁と前記第3の壁との間に区画されている、請求項13に記載のロボット手術システム。
- 前記親指用シースは、前記親指用開口部の周りに360°のエンクロージャを形成しない、請求項12に記載のロボット手術システム。
- 前記親指用開口部内に配置された親指存在センサをさらに備える請求項12に記載のロボット手術システム。
- 前記親指存在センサは、光センサ、静電容量センサ、または機械的センサを含む、請求項16に記載のロボット手術システム。
- 前記親指用シースは、引き込み位置と引き出し位置との間で調整可能である、請求項12に記載のロボット手術システム。
- 前記親指用シースの外面に配置されたフィードバック信号コンポーネントをさらに備え、
前記フィードバック信号コンポーネントは、ユーザによって見ることができる、請求項12に記載のロボット手術システム。 - ユーザの親指が、前記親指用開口部または前記側方開口部を介して前記親指用シースから離脱可能である、請求項12に記載のロボット手術システム。
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WO2024042651A1 (ja) * | 2022-08-24 | 2024-02-29 | リバーフィールド株式会社 | 手術支援装置の操作装置 |
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US20200297448A1 (en) | 2020-09-24 |
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CN115553922A (zh) | 2023-01-03 |
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JP2023164870A (ja) | 2023-11-14 |
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CA3045462A1 (en) | 2018-06-07 |
JP7099728B2 (ja) | 2022-07-12 |
US20220218430A1 (en) | 2022-07-14 |
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