JP2021500960A - 手動解放レバーを伴うロボット外科用ツール - Google Patents
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Abstract
Description
A.外科用ツールであって、対応する複数の駆動入力部に動作可能に連結されている複数の駆動ケーブルキャプスタンを収容する駆動ハウジングと、駆動ハウジングから延在する細長いシャフトと、細長いシャフトの遠位端部に動作可能に連結されているエンドエフェクタと、駆動ハウジングとエンドエフェクタとの間に延在している複数の駆動ケーブルであって、各駆動ケーブルが、複数の駆動ケーブルキャプスタンの対応する1つと関連付けられ、複数の駆動ケーブルキャプスタンの回転により、複数の駆動ケーブルを対応的に移動させて、エンドエフェクタを関節運動させる、複数の駆動ケーブルと、駆動ハウジングに連結された手動式解放組立体であって、複数の駆動ケーブルキャプスタンが対応する複数の駆動入力部に動作可能に連結されている収容位置と、複数の駆動ケーブルキャプスタンが対応する複数の駆動入力部から係合解除されている作動位置との間で手動にて移動可能である解放レバーを含む、手動式解放組立体と、を備え、解放レバーを作動位置に移動させることにより、複数の駆動ケーブルキャプスタンを回転させて、エンドエフェクタを手動にて関節運動させる、外科用ツール。
(1) 外科用ツールであって、
対応する複数の駆動入力部に動作可能に連結されている複数の駆動ケーブルキャプスタンを収容する駆動ハウジングと、
前記駆動ハウジングから延在する細長いシャフトと、
前記細長いシャフトの遠位端部に動作可能に連結されているエンドエフェクタと、
前記駆動ハウジングと前記エンドエフェクタとの間に延在している複数の駆動ケーブルであって、各駆動ケーブルが、前記複数の駆動ケーブルキャプスタンのうちの対応する1つと関連付けられ、前記複数の駆動ケーブルキャプスタンの回転により、前記複数の駆動ケーブルを対応的に移動させて、前記エンドエフェクタを関節運動させる、複数の駆動ケーブルと、
前記駆動ハウジングに連結された手動式解放組立体であって、前記複数の駆動ケーブルキャプスタンが前記対応する複数の駆動入力部に動作可能に連結されている収容位置と、前記複数の駆動ケーブルキャプスタンが前記対応する複数の駆動入力部から係合解除される作動位置との間で手動にて移動可能である解放レバーを含む、手動式解放組立体と、を備え、
前記解放レバーを前記作動位置に移動させることにより、前記複数の駆動ケーブルキャプスタンを回転させて、前記エンドエフェクタを手動にて関節運動させる、外科用ツール。
(2) 前記エンドエフェクタが、対向する第1及び第2の顎部を含み、前記解放レバーを前記作動位置に移動させることにより、前記第1及び第2の顎部のうちの少なくとも一方を他方に対して、かつ開放位置に移動させる、実施態様1に記載の外科用ツール。
(3) 前記解放レバーは、前記収容位置へと手動にて後退可能であり、結果、前記第1及び第2の顎部のうちの前記少なくとも一方を閉鎖位置に後退させる、実施態様2に記載の外科用ツール。
(4) シャーシが前記駆動ハウジング内に位置付けられ、前記解放レバーが、第1のピンにおいて前記シャーシに回転可能に装着され、前記手動式解放組立体が、
複数のスパーギアであって、各スパーギアが、前記複数の駆動ケーブルキャプスタンのうちの対応する1つに、それと共に回転するために連結されている、複数のスパーギアと、
前記複数のスパーギアと係合可能な1つ以上のラックギアを提供するギアラックを含む、顎部解放フレームと、
前記解放レバーを前記顎部解放フレームに移動可能に連結する第2のピンと、を更に備える、実施態様1に記載の外科用ツール。
(5) 前記解放レバーが、前記収容位置と前記作動位置との間を移動するように前記第1のピンの周りで回転可能であり、前記解放レバーが前記作動位置に向かって移動すると、前記第2のピンが、前記顎部解放フレーム内に画定された駆動スロットと摺動可能に係合し、前記1つ以上のラックギアを移動させて、前記複数のスパーギアと係合させる、実施態様4に記載の外科用ツール。
(7) 前記シャーシが上側シャーシであり、前記駆動ハウジングが、前記駆動ハウジングの内部に位置付けられた下側シャーシを更に含み、前記手動式解放組立体が、
前記顎部解放フレームから延在し、かつ前記複数の駆動ケーブルキャプスタンを前記複数の駆動入力部から係合解除するように前記下側シャーシと係合可能である、1つ以上の脚ピンを更に備える、実施態様4に記載の外科用ツール。
(8) 前記上側シャーシを前記下側シャーシに対して移動させることを可能にする1つ以上の付勢要素を用いて、前記下側シャーシが前記駆動ハウジングに適合的に連結されている、実施態様7に記載の外科用ツール。
(9) 前記エンドエフェクタが、鉗子、組織把持器具、ニードルドライバ、ハサミ、電気焼灼器、ステープラ、クリップアプライヤ、及びこれらの任意の組み合わせからなる群から選択されている、実施態様1に記載の外科用ツール。
(10) 外科用ツールを動作させる方法であって、
手術のために、前記外科用ツールを患者に隣接して位置決めすることであって、前記外科用ツールが、
対応する複数の駆動入力部に動作可能に連結されている複数の駆動ケーブルキャプスタンを収容する駆動ハウジングと、
前記駆動ハウジングから延在する細長いシャフトと、
前記細長いシャフトの遠位端部に動作可能に連結されているエンドエフェクタと、
前記駆動ハウジングと前記エンドエフェクタとの間に延在する複数の駆動ケーブルであって、各駆動ケーブルが、前記複数の駆動ケーブルキャプスタンのうちの対応する1つと関連付けられ、前記複数の駆動ケーブルキャプスタンの回転が、前記複数の駆動ケーブルを対応的に移動させて、前記エンドエフェクタを関節運動させる、複数の駆動ケーブルと、
前記駆動ハウジングに連結され、かつ解放レバーを含む手動式解放組立体と、を含む、ことと、
前記解放レバーを、前記複数の駆動ケーブルキャプスタンが前記対応する複数の駆動入力部に動作可能に連結されている収容位置から、前記複数の駆動ケーブルキャプスタンが前記対応する複数の駆動入力部から係合解除される作動位置へと、手動にて移動させることと、
前記解放レバーを前記作動位置に移動すると、前記複数の駆動ケーブルキャプスタンを回転させて、前記エンドエフェクタを手動にて関節運動させることと、を含む、方法。
(12) 前記エンドエフェクタが対向する第1及び第2の顎部を含み、前記複数の駆動ケーブルキャプスタンを回転させて、前記エンドエフェクタを手動にて関節運動させることが、前記第1及び第2の顎部を開放位置に移動させることを含む、実施態様10に記載の方法。
(13) 前記解放レバーを前記収容位置に後退させ、それにより、前記第1及び第2の顎部を閉鎖位置に後退させることを更に含む、実施態様12に記載の方法。
(14) 前記手動式解放組立体が、1つ以上のラックギアを提供するギアラックを含む顎部解放フレーム、及び複数のスパーギアを更に含み、各スパーギアが、前記複数の駆動ケーブルキャプスタンのうちの対応する1つに、それと共に回転するように連結され、前記収容位置から前記作動位置へと前記解放レバーを手動にて移動させることが、
前記駆動ハウジング内に位置付けられたシャーシに前記解放レバーを連結する第1のピンの周りで、前記解放レバーを回転させることと、
前記1つ以上のラックギアを移動させて前記複数のスパーギアと噛合係合させることと、を含む、実施態様10に記載の方法。
(15) 前記解放レバーが、前記顎部解放フレームにより画定された駆動スロット内に位置付けられた第2のピンにおいて前記顎部解放フレームに移動可能に連結され、前記1つ以上のラックギアを移動させて前記複数のスパーギアと噛合係合させることが、
前記駆動スロット内で前記第2のピンを摺動可能に係合させることと、
前記第2のピンを前記駆動スロットの内側輪郭に押し当てながら駆動させ、それにより、前記顎部解放フレームに、前記1つ以上のラックギアを移動させて前記複数のスパーギアと噛合係合させることと、を含む、実施態様14に記載の方法。
前記歯を前記対向する歯に係合させることと、
前記歯と前記対向する歯との間の係合を介して前記顎部解放フレームを長手方向に移動させ、それにより前記複数のスパーギアを回転させることと、を含む、実施態様15に記載の方法。
(17) 前記シャーシは上側シャーシであり、前記駆動ハウジングは前記駆動ハウジングの内部に位置付けられた下側シャーシを更に含み、前記駆動スロットの内側輪郭に押し当てながら前記第2のピンを駆動させることが、
前記顎部解放フレームから延在する1つ以上の脚ピンを前記下側シャーシに対して係合させることと、
前記1つ以上の脚ピンが前記下側シャーシに対して駆動されると、前記複数の駆動入力部から前記複数の駆動ケーブルキャプスタンを係合解除させることと、を更に含む、実施態様15に記載の方法。
(18) 前記下側シャーシが、1つ以上の付勢要素を用いて前記駆動ハウジングに適合的に連結され、前記方法が、
前記解放レバーを前記収容位置まで手動にて後退させ、それにより前記1つ以上の付勢要素のばね力で前記下側シャーシを前記上側シャーシに向かって後退させることと、
前記複数の駆動ケーブルキャプスタンを前記対応する複数の駆動入力部と再係合させることと、を更に含む、実施態様17に記載の方法。
(19) 外科用ツールを洗浄する方法であって、前記外科用ツールが、対応する複数の駆動入力部に動作可能に連結されている複数の駆動ケーブルキャプスタンを収容する駆動ハウジングと、前記駆動ハウジングから延在する細長いシャフトと、対向する第1及び第2の顎部を有し、かつ前記細長いシャフトの遠位端部に動作可能に連結されているエンドエフェクタと、前記駆動ハウジングと前記エンドエフェクタとの間で延在する複数の駆動ケーブルであって、各駆動ケーブルが、前記複数の駆動ケーブルキャプスタンの対応する1つに関連付けられている、複数の駆動ケーブルと、前記駆動ハウジングに連結された手動式解放組立体であって、収容位置と作動位置との間で手動にて移動可能な解放レバーを含む、手動式解放組立体と、を含み、前記方法が、
前記解放レバーを、前記複数の駆動ケーブルキャプスタンが前記対応する複数の駆動入力部に動作可能に連結される収容位置から、前記複数の駆動ケーブルキャプスタンが前記対応する複数の駆動入力部から係合解除される作動位置まで手動にて移動させることと、
前記解放レバーが前記作動位置に移動されると、前記複数の駆動ケーブルキャプスタンを回転させ、それにより、前記第1及び第2の顎部を開放位置に手動にて移動させることと、
前記第1及び第2の顎部を洗浄することと、を含む、方法。
Claims (10)
- 外科用ツールであって、
対応する複数の駆動入力部に動作可能に連結されている複数の駆動ケーブルキャプスタンを収容する駆動ハウジングと、
前記駆動ハウジングから延在する細長いシャフトと、
前記細長いシャフトの遠位端部に動作可能に連結されているエンドエフェクタと、
前記駆動ハウジングと前記エンドエフェクタとの間に延在している複数の駆動ケーブルであって、各駆動ケーブルが、前記複数の駆動ケーブルキャプスタンのうちの対応する1つと関連付けられ、前記複数の駆動ケーブルキャプスタンの回転により、前記複数の駆動ケーブルを対応的に移動させて、前記エンドエフェクタを関節運動させる、複数の駆動ケーブルと、
前記駆動ハウジングに連結された手動式解放組立体であって、前記複数の駆動ケーブルキャプスタンが前記対応する複数の駆動入力部に動作可能に連結されている収容位置と、前記複数の駆動ケーブルキャプスタンが前記対応する複数の駆動入力部から係合解除される作動位置との間で手動にて移動可能である解放レバーを含む、手動式解放組立体と、を備え、
前記解放レバーを前記作動位置に移動させることにより、前記複数の駆動ケーブルキャプスタンを回転させて、前記エンドエフェクタを手動にて関節運動させる、外科用ツール。 - 前記エンドエフェクタが、対向する第1及び第2の顎部を含み、前記解放レバーを前記作動位置に移動させることにより、前記第1及び第2の顎部のうちの少なくとも一方を他方に対して、かつ開放位置に移動させる、請求項1に記載の外科用ツール。
- 前記解放レバーは、前記収容位置へと手動にて後退可能であり、結果、前記第1及び第2の顎部のうちの前記少なくとも一方を閉鎖位置に後退させる、請求項2に記載の外科用ツール。
- シャーシが前記駆動ハウジング内に位置付けられ、前記解放レバーが、第1のピンにおいて前記シャーシに回転可能に装着され、前記手動式解放組立体が、
複数のスパーギアであって、各スパーギアが、前記複数の駆動ケーブルキャプスタンのうちの対応する1つに、それと共に回転するために連結されている、複数のスパーギアと、
前記複数のスパーギアと係合可能な1つ以上のラックギアを提供するギアラックを含む、顎部解放フレームと、
前記解放レバーを前記顎部解放フレームに移動可能に連結する第2のピンと、を更に備える、請求項1に記載の外科用ツール。 - 前記解放レバーが、前記収容位置と前記作動位置との間を移動するように前記第1のピンの周りで回転可能であり、前記解放レバーが前記作動位置に向かって移動すると、前記第2のピンが、前記顎部解放フレーム内に画定された駆動スロットと摺動可能に係合し、前記1つ以上のラックギアを移動させて、前記複数のスパーギアと係合させる、請求項4に記載の外科用ツール。
- 前記解放レバーが、前記顎部解放フレーム上に設けられた対向する歯と係合可能な歯を提供し、前記解放レバーが前記作動位置に向かって移動すると、前記歯が前記対向する歯と係合して、それにより前記顎部解放フレームが長手方向に移動して前記複数のスパーギアを回転させる、請求項5に記載の外科用ツール。
- 前記シャーシが上側シャーシであり、前記駆動ハウジングが、前記駆動ハウジングの内部に位置付けられた下側シャーシを更に含み、前記手動式解放組立体が、
前記顎部解放フレームから延在し、かつ前記複数の駆動ケーブルキャプスタンを前記複数の駆動入力部から係合解除するように前記下側シャーシと係合可能である、1つ以上の脚ピンを更に備える、請求項4に記載の外科用ツール。 - 前記上側シャーシを前記下側シャーシに対して移動させることを可能にする1つ以上の付勢要素を用いて、前記下側シャーシが前記駆動ハウジングに適合的に連結されている、請求項7に記載の外科用ツール。
- 前記エンドエフェクタが、鉗子、組織把持器具、ニードルドライバ、ハサミ、電気焼灼器、ステープラ、クリップアプライヤ、及びこれらの任意の組み合わせからなる群から選択されている、請求項1に記載の外科用ツール。
- 外科用ツールを洗浄する方法であって、前記外科用ツールが、対応する複数の駆動入力部に動作可能に連結されている複数の駆動ケーブルキャプスタンを収容する駆動ハウジングと、前記駆動ハウジングから延在する細長いシャフトと、対向する第1及び第2の顎部を有し、かつ前記細長いシャフトの遠位端部に動作可能に連結されているエンドエフェクタと、前記駆動ハウジングと前記エンドエフェクタとの間で延在する複数の駆動ケーブルであって、各駆動ケーブルが、前記複数の駆動ケーブルキャプスタンの対応する1つに関連付けられている、複数の駆動ケーブルと、前記駆動ハウジングに連結された手動式解放組立体であって、収容位置と作動位置との間で手動にて移動可能な解放レバーを含む、手動式解放組立体と、を含み、前記方法が、
前記解放レバーを、前記複数の駆動ケーブルキャプスタンが前記対応する複数の駆動入力部に動作可能に連結される収容位置から、前記複数の駆動ケーブルキャプスタンが前記対応する複数の駆動入力部から係合解除される作動位置まで手動にて移動させることと、
前記解放レバーが前記作動位置に移動されると、前記複数の駆動ケーブルキャプスタンを回転させ、それにより、前記第1及び第2の顎部を開放位置に手動にて移動させることと、
前記第1及び第2の顎部を洗浄することと、を含む、方法。
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WO2019083800A1 (en) | 2019-05-02 |
US10624709B2 (en) | 2020-04-21 |
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