JP2021517838A - 外科用ロボットカートの配置のためのシステムおよび方法 - Google Patents
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Abstract
Description
外科用ロボットシステムは、確度および利便性が向上しているため、低侵襲の医療処置において使用される。外科用ロボットシステムでは、ロボットアームは、手首アセンブリによってエンドエフェクタが取り付けられた外科用器具を支持する。動作中、ロボットアームは、患者の外科用ポータルまたは患者の自然の開口部を介して外科用器具を小さな切開部に挿入または外科用器具を小さな切開部内に保持して、エンドエフェクタを患者の体内の作業部位に位置決めする。
Claims (20)
- 外科用ロボットカートアセンブリを配置する方法であって、
手術台に対する第1の外科用ロボットカートアセンブリの第1の位置を判定することと、
前記手術台に対する前記第1の外科用ロボットカートアセンブリの第2の位置に向かう前記第1の外科用ロボットカートアセンブリのための経路を計算することであって、前記第2の位置では、前記第1の外科用ロボットカートアセンブリが、前記手術台から第1の安全距離だけ離間される、計算することと、
前記第1の外科用ロボットカートアセンブリをその前記第2の位置に向かって自律的に移動させることと、
前記第1の外科用ロボットカートアセンブリがその前記第2の位置に向かって移動する際、前記第1の外科用ロボットカートアセンブリの前記経路に沿って潜在的な衝突を検出することと、を含む、方法。 - 前記第1の外科用ロボットカートアセンブリおよび前記手術台に対する第2の外科用ロボットカートアセンブリの第1の位置を判定することと、
前記第1の外科用ロボットカートアセンブリおよび前記手術台に対する前記第2の外科用ロボットカートアセンブリの第2の位置に向かう前記第2の外科用ロボットカートアセンブリのための経路を計算することであって、前記第2の位置では、前記第2の外科用ロボットカートアセンブリが、前記第1の外科用ロボットカートアセンブリから第2の安全距離だけ、かつ前記手術台から第3の安全距離だけ離間される、計算することと、
前記第2の外科用ロボットカートアセンブリをその前記第2の位置に向かって自律的に移動させることと、
前記第2の外科用ロボットカートアセンブリがその前記第2の位置に向かって移動する際、前記第2の外科用ロボットカートアセンブリの前記経路に沿って潜在的な衝突を検出することと、をさらに含む、請求項1に記載の方法。 - 視覚センサから第1のセンサデータを取得して、前記第1の外科用ロボットカートアセンブリの前記第1の位置を判定し、かつ前記第2の外科用ロボットカートアセンブリの前記第1の位置を判定することをさらに含む、請求項2に記載の方法。
- フロアセンサから第2のセンサデータを取得して、前記第1の外科用ロボットカートアセンブリの前記第1の位置を判定し、かつ前記第1の外科用ロボットカートアセンブリの前記第1の位置を判定することをさらに含む、請求項2に記載の方法。
- 前記第1の外科用ロボットカートアセンブリから第3のセンサデータを取得して、前記第2の外科用ロボットカートアセンブリの前記第1の位置を判定することをさらに含む、請求項2に記載の方法。
- 前記手術台から第4のセンサデータを取得して、前記第1の外科用ロボットカートアセンブリの前記第1の位置を判定することをさらに含む、請求項2に記載の方法。
- 環境マップを更新して、前記第1の外科用ロボットカートアセンブリの前記第1の位置および前記第2の外科用ロボットカートアセンブリの前記第1の位置を組み込むことをさらに含む、請求項2に記載の方法。
- 前記第2の外科用ロボットカートアセンブリと前記第1の外科用ロボットカートアセンブリとの間の前記潜在的な衝突を検出すると、前記第2の外科用ロボットカートアセンブリの第3の位置を判定することをさらに含む、請求項2に記載の方法。
- 前記第2の外科用ロボットカートアセンブリと前記第1の外科用ロボットカートアセンブリとの間の前記潜在的な衝突を検出すると、前記第2の外科用ロボットカートアセンブリのトラブルシューティングの要件を判定することをさらに含む、請求項2に記載の方法。
- 前記第1の外科用ロボットカートアセンブリおよび前記第2の外科用ロボットカートアセンブリを、それらのそれぞれの前記第2の位置に向かって同時に移動させることをさらに含む、請求項2に記載の方法。
- 前記第1の外科用ロボットカートアセンブリ、前記第2の外科用ロボットカートアセンブリ、および前記手術台に対する臨床医の第1の位置を判定することをさらに含む、請求項2に記載の方法。
- 手術室内に複数の外科用ロボットカートアセンブリを位置決めする方法であって、
手術室センサから第1のセンサデータを取得することと、
第1の外科用ロボットカートアセンブリの第1の位置を判定し、第2の外科用ロボットカートアセンブリの第1の位置を判定することであって、前記第1の外科用ロボットカートアセンブリが、第1のセンサおよび第1の送信機を有する第1のベース部分を含み、前記第2の外科用ロボットカートアセンブリが、第2のセンサおよび第2の送信機を有する第2のベース部分を含む、判定することと、
前記第1の外科用ロボットカートアセンブリの第2の位置に向かう前記第1の外科用ロボットカートアセンブリのための第1の経路を計算し、前記第2の外科用ロボットカートアセンブリの第2の位置に向かう前記第2の外科用ロボットカートアセンブリのための第2の経路を計算することと、
前記第1の外科用ロボットカートアセンブリおよび前記第2の外科用ロボットカートアセンブリをそれぞれ、それらの前記第2の位置に向かって自律的に移動させることと、
前記第1の外科用ロボットカートアセンブリがその前記第2の位置に向かって移動し、前記第2の外科用ロボットカートアセンブリがその前記第2の位置に向かって移動する際、前記第1の経路および前記第2の経路に沿って潜在的な衝突を検出することと、
前記第1および第2の外科用ロボットカートアセンブリが、それぞれそれらの前記第2の位置に移動すると、前記第1の外科用ロボットカートアセンブリの前記第2の位置および前記第2の外科用ロボットカートアセンブリの前記第2の位置を用いて環境マップを更新することと、を含む、方法。 - 前記手術室センサから取得された前記第1のセンサデータから、前記第1の外科用ロボットカートアセンブリの前記第1の位置を判定することと、前記第2の外科用ロボットカートアセンブリの前記第1の位置を判定することと、をさらに含む、請求項12に記載の方法。
- 前記第1の外科用ロボットカートアセンブリの前記第1のセンサから第2のセンサデータを取得して、前記第2の外科用ロボットカートアセンブリの前記第1の位置を判定することをさらに含む、請求項12に記載の方法。
- 前記第2の外科用ロボットカートアセンブリの前記第2のセンサから第3のセンサデータを取得して、前記第1の外科用ロボットカートアセンブリの前記第1の位置を判定することをさらに含む、請求項12に記載の方法。
- 前記第1の外科用ロボットカートアセンブリの前記第2の位置を計算し、前記第2の外科用ロボットカートアセンブリの前記第2の位置を計算して、前記第1の外科用ロボットカートアセンブリと前記第2の外科用ロボットカートアセンブリとの間の第1の安全距離を維持することと、前記第1の外科用ロボットカートアセンブリおよび前記第2の外科用ロボットカートアセンブリと手術台との間の第2の安全距離を維持することと、をさらに含む、請求項12に記載の方法。
- 前記第1の外科用ロボットカートアセンブリと前記第2の外科用ロボットカートアセンブリとの間の距離が、前記第1の安全距離未満であるとき、前記第2の外科用ロボットカートアセンブリをその第3の位置に自律的に移動させることをさらに含む、請求項16に記載の方法。
- 前記第2の外科用ロボットカートアセンブリが、その前記第3の位置に移動されるとき、前記環境マップを更新して、前記第2の外科用ロボットカートアセンブリの現在の位置として、前記第2の外科用ロボットカートアセンブリの前記第3の位置を登録することをさらに含む、請求項17に記載の方法。
- 外科用ロボットカートアセンブリであって
ロボットアームと、
ベース部分と、を備え、前記ベース部分は、前記ベース部分上に前記ロボットアームを動作可能に支持するように構成されており、前記ベース部分は、視覚誘導システムを含み、前記視覚誘導システムは、
前記ベース部分上に取り付けられたプロジェクタであって、目標場所に向かう移動方向に対応するパターンを投影するように構成された、プロジェクタと、
前記ベース部分上に取り付けられたディスプレイであって、前記目標場所に向かう前記移動方向に対応する視覚的表示を表現するように構成された、ディスプレイと、
前記ベース部分上に取り付けられ、前記ベース部分上で離間されている複数のライトであって、前記複数のライトのうちの少なくとも1つが、前記目標場所に向かう前記移動方向に対応して選択的に光を放つように構成された、複数のライトと、を有する、外科用ロボットカートアセンブリ。 - 前記ベース部分が前記パターンに沿って前記目標場所に向かって移動するに従い、前記プロジェクタによって投影された前記パターンが、変化するように構成されている、請求項19に記載の外科用ロボットカートアセンブリ。
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US11992281B2 (en) | 2019-05-31 | 2024-05-28 | Intuitive Surgical Operations, Inc. | Systems and methods for bifurcated navigation control of a manipulator cart included within a computer-assisted medical system |
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US11986261B2 (en) | 2024-05-21 |
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