JP2021180856A - 手術用ロボット - Google Patents
手術用ロボット Download PDFInfo
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/04—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor combined with photographic or television appliances
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/28—Surgical forceps
- A61B17/29—Forceps for use in minimally invasive surgery
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/28—Surgical forceps
- A61B17/29—Forceps for use in minimally invasive surgery
- A61B17/2909—Handles
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
- A61B34/71—Manipulators operated by drive cable mechanisms
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
- B25J18/06—Arms flexible
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms
- B25J9/065—Snake robots
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
- A61B2017/00292—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery mounted on or guided by flexible, e.g. catheter-like, means
- A61B2017/003—Steerable
- A61B2017/00305—Constructional details of the flexible means
- A61B2017/00314—Separate linked members
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
- A61B2017/00292—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery mounted on or guided by flexible, e.g. catheter-like, means
- A61B2017/003—Steerable
- A61B2017/00318—Steering mechanisms
- A61B2017/00323—Cables or rods
- A61B2017/00327—Cables or rods with actuating members moving in opposite directions
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/00367—Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like
- A61B2017/00398—Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like using powered actuators, e.g. stepper motors, solenoids
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/28—Surgical forceps
- A61B17/29—Forceps for use in minimally invasive surgery
- A61B2017/2901—Details of shaft
- A61B2017/2905—Details of shaft flexible
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/28—Surgical forceps
- A61B17/29—Forceps for use in minimally invasive surgery
- A61B2017/2901—Details of shaft
- A61B2017/2906—Multiple forceps
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/28—Surgical forceps
- A61B17/29—Forceps for use in minimally invasive surgery
- A61B2017/2901—Details of shaft
- A61B2017/2908—Multiple segments connected by articulations
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/28—Surgical forceps
- A61B17/29—Forceps for use in minimally invasive surgery
- A61B2017/2926—Details of heads or jaws
- A61B2017/2927—Details of heads or jaws the angular position of the head being adjustable with respect to the shaft
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/28—Surgical forceps
- A61B17/29—Forceps for use in minimally invasive surgery
- A61B2017/2926—Details of heads or jaws
- A61B2017/2927—Details of heads or jaws the angular position of the head being adjustable with respect to the shaft
- A61B2017/2929—Details of heads or jaws the angular position of the head being adjustable with respect to the shaft with a head rotatable about the longitudinal axis of the shaft
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B2034/301—Surgical robots for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
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- A61B34/30—Surgical robots
- A61B2034/305—Details of wrist mechanisms at distal ends of robotic arms
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B2034/305—Details of wrist mechanisms at distal ends of robotic arms
- A61B2034/306—Wrists with multiple vertebrae
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10S901/00—Robots
- Y10S901/14—Arm movement, spatial
- Y10S901/15—Jointed arm
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10S901/00—Robots
- Y10S901/27—Arm part
- Y10S901/28—Joint
- Y10S901/29—Wrist
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10S901/00—Robots
- Y10S901/30—End effector
- Y10S901/41—Tool
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- Animal Behavior & Ethology (AREA)
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Abstract
Description
図3は、手術用ロボット1のロボット本体2の遠位端の構成例を示す斜視図である。図4は、ロボット本体2の構成例を概略的に示す図である。
図2に示すように、駆動部3は、ロボット本体2を駆動するロボット本体駆動機構51を有する。
図9は、制御器4の構成例を示すブロック図である。
次に、手術用ロボット1の使用例を説明する。
2 ロボット本体
3 駆動部
4 制御器
5 操作部
6 案内管
21 アーム
22 鉗子
23 ベース
24 駆動力伝達機構
25 可撓シャフト
26 関節部
27 第1曲げ関節
28 第2曲げ関節
29 接続部
30 手首関節
31 コマ部材
32 操作ケーブル連結部
35 第1曲げ関節駆動部
36 第2曲げ関節駆動部
37 鉗子駆動部
38 手首関節駆動部
41 第1曲げ関節操作ケーブル
42 第2曲げ関節操作ケーブル
43 鉗子操作ケーブル
44 トルク伝達チューブ
51 ロボット本体駆動機構
81 制御部
82 記憶部
100 手術用ロボットシステム
101 内視鏡
102 集束管
110 トロッカー
111 手術台
113 手術用ロボット支持台
114 表示装置
Claims (4)
- 可撓性を有する中空の可撓シャフトと、近位端が前記可撓シャフトの遠位端に連なり、その軸線と直交する方向に曲げ可能である中空の曲げ関節と、前記曲げ関節の遠位端に連なり、その軸線周りに回動可能である手首関節と、前記手首関節に取り付けられたエンドエフェクタと、可撓性を有し、前記可撓シャフト及び前記曲げ関節に挿通されて遠位端が前記手首関節に取り付けられている中空のトルク伝達チューブと、前記可撓シャフトに挿通され、遠位端が前記曲げ関節に取り付けられている曲げ関節操作ケーブルとを含むロボット本体であって、前記曲げ関節は、前記曲げ関節操作ケーブルが該曲げ関節操作ケーブルの延在方向に動作することによって曲げ動作を行うように構成されているロボット本体と、
前記可撓シャフトが挿通され、可撓性を有する案内管と、
その駆動力により前記曲げ関節操作ケーブルを該曲げ関節操作ケーブルの延在方向に動作させる曲げ関節駆動部と、その駆動力により前記トルク伝達チューブの近位端を回動させる手首関節駆動部とを含むロボット本体駆動機構と、を備える、手術用ロボット。 - 前記案内管は、その遠位端を湾曲させる遠位端湾曲機構を有する、請求項1に記載の手術用ロボット。
- 前記案内管の曲げ方向の剛性が前記可撓シャフトの曲げ方向の剛性よりも大きく構成されている、請求項1又は2に記載の手術用ロボット。
- 前記ロボット本体は、前記トルク伝達チューブに挿通され、遠位端が前記エンドエフェクタに取り付けられているエンドエフェクタ操作ケーブルを有し、
前記エンドエフェクタは、前記エンドエフェクタ操作ケーブルが該エンドエフェクタ操作ケーブルの延在方向に動作することによって動作するように構成され、
前記ロボット本体駆動機構は、その駆動力により前記エンドエフェクタ操作ケーブルを該エンドエフェクタ操作ケーブルの延在方向に動作させるエンドエフェクタ駆動部を含む、請求項1乃至3の何れかに記載の手術用ロボット。
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2021115992A JP7141500B2 (ja) | 2015-07-09 | 2021-07-13 | 手術用ロボット |
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
PCT/JP2015/003486 WO2017006375A1 (ja) | 2015-07-09 | 2015-07-09 | 手術用ロボット |
JP2017526785A JP7257102B2 (ja) | 2015-07-09 | 2015-07-09 | 手術用ロボット |
JP2021115992A JP7141500B2 (ja) | 2015-07-09 | 2021-07-13 | 手術用ロボット |
Related Parent Applications (1)
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JP2017526785A Division JP7257102B2 (ja) | 2015-07-09 | 2015-07-09 | 手術用ロボット |
Publications (2)
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JP2021180856A true JP2021180856A (ja) | 2021-11-25 |
JP7141500B2 JP7141500B2 (ja) | 2022-09-22 |
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JP2017526785A Active JP7257102B2 (ja) | 2015-07-09 | 2015-07-09 | 手術用ロボット |
JP2021115992A Active JP7141500B2 (ja) | 2015-07-09 | 2021-07-13 | 手術用ロボット |
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JP2017526785A Active JP7257102B2 (ja) | 2015-07-09 | 2015-07-09 | 手術用ロボット |
Country Status (6)
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US (1) | US20180214220A1 (ja) |
EP (1) | EP3321047A4 (ja) |
JP (2) | JP7257102B2 (ja) |
KR (1) | KR20180022944A (ja) |
CN (1) | CN107708596A (ja) |
WO (1) | WO2017006375A1 (ja) |
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2015
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- 2015-07-09 US US15/742,901 patent/US20180214220A1/en not_active Abandoned
- 2015-07-09 CN CN201580081269.XA patent/CN107708596A/zh active Pending
- 2015-07-09 JP JP2017526785A patent/JP7257102B2/ja active Active
- 2015-07-09 EP EP15897638.1A patent/EP3321047A4/en not_active Withdrawn
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2021
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Patent Citations (5)
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JP2010227600A (ja) * | 2006-04-06 | 2010-10-14 | Olympus Medical Systems Corp | 医療器具 |
JP2013510664A (ja) * | 2009-11-13 | 2013-03-28 | インテュイティブ サージカル オペレーションズ, インコーポレイテッド | 湾曲カニューレ、ロボットマニピュレーターおよび外科手術用ポート |
WO2014069003A1 (ja) * | 2012-11-01 | 2014-05-08 | 国立大学法人東京工業大学 | 鉗子マニピュレータ、および鉗子マニピュレータを備える鉗子システム |
WO2014104402A1 (en) * | 2012-12-26 | 2014-07-03 | Olympus Corporation | Trocar |
WO2014157001A1 (ja) * | 2013-03-26 | 2014-10-02 | オリンパス株式会社 | 処置具 |
Also Published As
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JPWO2017006375A1 (ja) | 2018-04-19 |
CN107708596A (zh) | 2018-02-16 |
EP3321047A1 (en) | 2018-05-16 |
EP3321047A4 (en) | 2019-03-20 |
WO2017006375A1 (ja) | 2017-01-12 |
JP7257102B2 (ja) | 2023-04-13 |
JP7141500B2 (ja) | 2022-09-22 |
US20180214220A1 (en) | 2018-08-02 |
KR20180022944A (ko) | 2018-03-06 |
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