JP2021511866A - 手術ロボットで案内されたプロテーゼ嵌入のためのエンドエフェクタおよびシステム - Google Patents
手術ロボットで案内されたプロテーゼ嵌入のためのエンドエフェクタおよびシステム Download PDFInfo
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Abstract
Description
本特許出願は、2018年1月26日に提出された米国仮特許出願第62/622,303号の優先権およびすべての利益を主張するものであり、その米国仮特許出願の開示全体を参照により本明細書に組み込む。
Claims (31)
- 手術ロボットによって維持される軌道に沿って手術部位でプロテーゼを嵌入するためのエンドエフェクタであって、
嵌込力を受けるように配置されたヘッドと、前記プロテーゼに着脱可能に取り付けられるように適合されたインターフェースと、前記ヘッドと前記インターフェースとの間でインパクタ軸に沿って延びるシャフトと、前記ヘッドと前記インターフェースとの間に配設されたインパクタ係合面とを備えるインパクタアセンブリと、
前記手術ロボットに取り付けられるように適合されたガイドであって、ガイド軸に沿って延び、前記インパクタアセンブリの前記シャフトの一部を受け入れるように配置された開口部を画定するチャネルと、前記インパクタ係合面に当接するように形作られたガイド係合面と、前記インパクタ係合面と前記ガイド係合面との当接を維持し、前記軸線と前記手術ロボットによって維持される前記軌道との同軸位置合わせを容易にするリミッタとを含むガイドと、
を備える、エンドエフェクタ。 - 前記チャネルとの前記インパクタアセンブリの係合を検知するために前記ガイドに結合されたセンサをさらに備える、請求項1に記載のエンドエフェクタ。
- 前記ガイドの前記チャネルが、第1の軸方向チャネル端部と第2の軸方向チャネル端部との間に延び、
前記センサが、前記第1のチャネル端部と前記第2のチャネル端部との間での前記インパクタアセンブリの相対軸方向位置を検知するようにさらに構成される
請求項2に記載のエンドエフェクタ。 - 前記インパクタアセンブリが、前記シャフトに結合されたフランジをさらに備え、前記フランジが前記インパクタ係合面を画定する、請求項2または3に記載のエンドエフェクタ。
- 前記ガイドに結合され、前記センサと共に配設され、前記インパクタアセンブリとの係合の不在によって画定される延出位置と、前記インパクタアセンブリの前記フランジとの係合によって画定される後退位置との間で動くように構成されるトリガをさらに備える、請求項4に記載のエンドエフェクタ。
- 前記トリガと前記センサとの間の力変換可能に介挿され、前記延出位置から離れる前記トリガの動きに応答して前記センサに係合するプッシュロッドをさらに備える、請求項5に記載のエンドエフェクタ。
- 前記センサが、前記チャネルに隣接する前記ガイドに結合された線形可変差動変圧器(LVDT)コイルアセンブリを備える、請求項4に記載のエンドエフェクタ。
- 前記LVDTコイルアセンブリが、前記ガイド軸の周りで前記開口部に向かって延びる円弧状プロファイルを有する少なくとも1つのコイルを含む、請求項7に記載のエンドエフェクタ。
- 前記インパクタアセンブリが、前記シャフトに結合されたフランジをさらに含み、前記フランジが前記インパクタ係合面を画定し、
前記インパクタアセンブリの前記シャフトが第1の外周を有し、前記フランジが前記第1の外周よりも大きい第2の外周を有する
請求項1から8のいずれか1項に記載のエンドエフェクタ。 - 前記ガイドの前記開口部は、前記ガイドが前記フランジと前記インパクタアセンブリの前記インターフェースとの間に軸方向に配向されるとき、前記インパクタアセンブリの前記シャフトが前記開口部を通過できるように設けられている、請求項9に記載のエンドエフェクタ。
- 前記リミッタは、前記ガイド係合面が前記インパクタ係合面に当接したときに前記フランジに接触するように配置された1対の円弧状表面を備える、請求項9または10に記載のエンドエフェクタ。
- 前記リミッタの前記円弧状表面が、前記ガイドの前記ガイド係合面と実質的に連続している、請求項11に記載のエンドエフェクタ。
- 前記リミッタの前記円弧状表面および前記ガイドの前記ガイド係合面がそれぞれ、共通の半径で前記ガイド軸から離間されている、請求項11または12に記載のエンドエフェクタ。
- 前記リミッタの前記円弧状表面と前記ガイドの前記ガイド係合面とが協働して、180度を超える弧基準角度で前記ガイド軸の周りで半径方向で互いに離間された第1および第2の円弧端部を有する共通の円弧を画定する、請求項11から13のいずれか1項に記載のエンドエフェクタ。
- 前記インパクタアセンブリが、前記フランジと前記インターフェースとの間で軸方向に配置されたテーパをさらに備え、前記テーパは、前記シャフトが前記チャネル内に配設された状態で前記ガイドが前記手術部位から離れるように動くときに、前記テーパと前記ガイドとの間で生じる接触に応答して前記フランジと前記シャフトとの間で移行して、前記フランジを前記ガイドの前記チャネルに導く、請求項9から14のいずれか1項に記載のエンドエフェクタ。
- 前記インパクタアセンブリの前記フランジが、前記インパクタ係合面を画定する略球形プロファイルを有する、請求項9から15のいずれか1項に記載のエンドエフェクタ。
- 前記チャネルが、前記ガイド係合面を画定する略C字形プロファイルを有する、請求項1から16のいずれか1項に記載のエンドエフェクタ。
- 前記インパクタアセンブリの前記シャフトが、略円筒形プロファイルを有する、請求項1から17のいずれか1項に記載のエンドエフェクタ。
- 前記インパクタアセンブリの前記シャフトが、前記インパクタ係合面を画定する、請求項1に記載のエンドエフェクタ。
- 前記ガイドの前記リミッタが、
前記開口部から出る前記インパクタアセンブリの動きを阻止して、前記インパクタ係合面と前記ガイド係合面との当接を維持する、第1のラッチ位置と、
前記開口部を横切る前記インパクタアセンブリの動きを可能にする第2のラッチ位置と
の間で可動であるラッチをさらに備える、請求項19に記載のエンドエフェクタ。 - 前記ラッチが、前記開口部からの前記インパクタアセンブリの前記シャフトの動きを阻止するために、前記第1のラッチ位置で前記ガイドの前記チャネルを少なくとも部分的に横断する、請求項20に記載のエンドエフェクタ。
- 前記ラッチが、前記第1のラッチ位置で前記インパクタアセンブリの前記シャフトと係合するように配置された保持面を含む、請求項20または21に記載のエンドエフェクタ。
- 前記リミッタが、前記ラッチと前記ガイドとの間に挿間されて、前記ラッチを前記第1のラッチ位置に向けて付勢する付勢要素をさらに備える、請求項20から22のいずれか1項に記載のエンドエフェクタ。
- 前記ラッチがカム部分を備え、前記カム部分が、前記ガイド係合面とは反対側を向き、前記インパクタアセンブリの一部に当接するように配置されて、前記ラッチを前記第2のラッチ位置に動かして、前記インパクタアセンブリの前記シャフトが前記ガイドの前記開口部を通過することを可能にし、前記インパクタ係合面を前記ガイド係合面に当接させる、請求項20から23のいずれか1項に記載のエンドエフェクタ。
- 前記ラッチが、ユーザによって作動されるように構成された解放部を備えて、前記ラッチを前記第1のラッチ位置から前記第2のラッチ位置に動かし、前記インパクタアセンブリの前記シャフトが前記ガイドの前記開口部から出られるようにする、請求項20から24のいずれか1項に記載のエンドエフェクタ。
- 前記ガイド係合面が、略U字形プロファイルを有し、
前記インパクタアセンブリの前記シャフトの円筒部分が、前記インパクタ係合面を画定する
請求項20から25のいずれか1項に記載のエンドエフェクタ。 - 軌道の方向に延びる開口部によって境界を画されたガイド係合面を画定するC字形チャネルを有するガイドを有する手術ロボットによって維持される、前記軌道に沿ってプロテーゼを嵌入するのに使用するためのインパクタアセンブリであって、
嵌込力を受けるように配置されたヘッドと、
前記プロテーゼに着脱可能に取り付けられるように適合されたインターフェースと、
前記ヘッドと前記インターフェースとの間のインパクタ軸に沿って延びるシャフトであって、前記ガイドの前記開口部を通過するように形作られているシャフトと、
前記ヘッドと前記インターフェースとの間で前記シャフトに結合されたフランジであって、前記ガイド係合面に当接して回転可能に係合するように形作られたインパクタ係合面を画定して、前記ガイドに対する前記インパクタアセンブリの回転を同時に可能にし、前記手術ロボットによって維持される前記軌道との前記インパクタ軸の同軸位置合わせを容易にする、フランジと
を備えるインパクタアセンブリ。 - 前記手術ロボットによって維持される軌道に沿ってインパクタアセンブリを支持するように構成された手術ロボットに取り付けられるように適合されたガイドであって、前記インパクタアセンブリが、プロテーゼを嵌入するように適合され、インパクタ係合面と、インパクタ軸に沿って延びるシャフトとを有し、前記ガイドが、
前記手術ロボットに取り付けられるように適合されたマウントと、
チャネルがガイド軸に沿って延びた状態で前記マウントに動作可能に取り付けられる本体であって、前記チャネルが、前記インパクタアセンブリの前記シャフトの一部を受け入れるように配置された開口部を画定する、本体と、
前記インパクタ係合面に当接するように形作られたガイド係合面と、
前記ガイド係合面と前記インパクタ係合面との当接を維持し、前記インパクタ軸および前記手術ロボットによって維持される軌道との前記ガイド軸の同軸位置合わせを容易にするリミッタと
を備える、ガイド。 - 手術ロボットによって維持される軌道に沿ってターゲットにワークピースを位置決めするためのエンドエフェクタであって、
近位端と、前記ワークピースに着脱可能に取り付けられるように適合されたインターフェースを有する遠位端と、前記近位端と前記遠位端との間で第1の軸線に沿って延びるシャフトと、前記近位端と前記遠位端との間に配設された第1の係合面とを備える第1のアセンブリと、
前記手術ロボットに取り付けられるように適合されたマウントと、前記マウントに動作可能に取り付けられたガイドであって、第2の軸線に沿って延び、前記第1のアセンブリの前記シャフトの一部を受け入れるように配置された開口部を画定するチャネルを備えるガイドと、前記第1の係合面に当接するように形作られた第2の係合面と、前記第1の係合面と前記第2の係合面との当接を維持し、前記手術ロボットによって維持される前記軌道との前記軸線の同軸位置合わせを容易にするリミッタとを備える第2のアセンブリと
を備える、エンドエフェクタ。 - 手術ロボットによって維持される軌道に沿ってターゲットにワークピースを位置決めするためのエンドエフェクタであって、
近位端と、前記ワークピースに着脱可能に取り付けられるように適合されたインターフェースを有する遠位端と、前記近位端と前記遠位端との間で第1の軸線に沿って延びるシャフトと、前記近位端と前記遠位端との間に配置されたフランジであって、第1の係合面を画定するフランジとを備える第1のアセンブリと、
前記手術ロボットに取り付けられるように適合されたマウントと、前記マウントに動作可能に取り付けられたガイドであって、前記第1の係合面に当接するように形作られた第2の係合面を画定するチャネルを備え、前記チャネルが、第1の軸方向チャネル端部と第2の軸方向チャネル端部との間で第2の軸線に沿って延び、前記第1のアセンブリの前記シャフトの一部を受け入れるように配置された開口部を画定する、ガイドと、前記第1の係合面と前記第2の係合面との当接を維持し、前記手術ロボットによって維持される前記軌道との前記軸線の同軸位置合わせを容易にするリミッタと、前記第1のチャネル端部と前記第2のチャネル端部との間で前記フランジの相対軸方向位置を検知するために前記ガイドに結合されるセンサとを備える第2のアセンブリであって、前記センサが、前記ガイド軸の周りで前記開口部に向けて延びる少なくとも1つのコイルを有する線形可変差動変圧器(LVDT)コイルアセンブリを備える、第2のアセンブリと
を備える、エンドエフェクタ。 - 手術ロボットによって維持される軌道に沿って手術部位でプロテーゼを嵌入する方法であって、
ヘッド、インターフェース、前記ヘッドと前記インターフェースとの間でインパクタ軸に沿って延びるシャフトと、インパクタ係合面を有するインパクタアセンブリとを提供するステップと、
ガイド軸に沿って延び、開口部と、ガイド係合面と、リミッタとを画定するチャネルを有するガイドを提供するステップと、
前記プロテーゼを前記手術部位に配置するように前記インパクタアセンブリを位置決めするステップと、
前記ガイドの前記開口部を通して前記チャネルに前記インパクタアセンブリの前記シャフトを位置決めするステップと、
前記インパクタアセンブリの前記インパクタ係合面を、前記ガイドの前記ガイド係合面に当接させるステップと、
前記インパクタアセンブリに対して前記ガイドの前記リミッタを動かして、前記インパクタ係合面と前記ガイド係合面との当接を維持するステップと、
前記インパクタ軸および前記ガイド軸を、手術ロボットによって維持される前記軌道と同軸に位置合わせするステップと、
前記インパクタアセンブリの前記ヘッドに嵌込力を加えて、前記手術ロボットによって維持される前記軌道に沿って前記手術部位で前記プロテーゼを嵌入するステップと、
を含む方法。
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CN111655187A (zh) | 2020-09-11 |
WO2019147948A1 (en) | 2019-08-01 |
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