JP2022513393A - 着用可能な手術用ロボットアーム - Google Patents
着用可能な手術用ロボットアーム Download PDFInfo
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- JP2022513393A JP2022513393A JP2021548484A JP2021548484A JP2022513393A JP 2022513393 A JP2022513393 A JP 2022513393A JP 2021548484 A JP2021548484 A JP 2021548484A JP 2021548484 A JP2021548484 A JP 2021548484A JP 2022513393 A JP2022513393 A JP 2022513393A
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- robot arm
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- wearable
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- 230000004308 accommodation Effects 0.000 claims description 10
- 238000010586 diagram Methods 0.000 abstract description 7
- 238000001356 surgical procedure Methods 0.000 description 11
- 238000000034 method Methods 0.000 description 6
- 239000012636 effector Substances 0.000 description 5
- 230000009471 action Effects 0.000 description 4
- 230000005540 biological transmission Effects 0.000 description 4
- 238000002357 laparoscopic surgery Methods 0.000 description 3
- 230000007246 mechanism Effects 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 230000005484 gravity Effects 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 238000004904 shortening Methods 0.000 description 2
- 208000032544 Cicatrix Diseases 0.000 description 1
- 230000000740 bleeding effect Effects 0.000 description 1
- 238000004140 cleaning Methods 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 238000005520 cutting process Methods 0.000 description 1
- 230000003111 delayed effect Effects 0.000 description 1
- 201000010099 disease Diseases 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000009474 immediate action Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 210000004400 mucous membrane Anatomy 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 238000002432 robotic surgery Methods 0.000 description 1
- 231100000241 scar Toxicity 0.000 description 1
- 230000037387 scars Effects 0.000 description 1
- 210000001519 tissue Anatomy 0.000 description 1
- 210000001835 viscera Anatomy 0.000 description 1
Images
Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/50—Supports for surgical instruments, e.g. articulated arms
-
- 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
- A61B34/37—Master-slave robots
-
- 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
- A61B34/25—User interfaces for surgical systems
-
- 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
-
- 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
- A61B34/74—Manipulators with manual electric input means
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/50—Supports for surgical instruments, e.g. articulated arms
- A61B90/53—Supports for surgical instruments, e.g. articulated arms connected to the surgeon's body, e.g. by a belt
-
- 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
- A61B2017/00017—Electrical control of surgical instruments
- A61B2017/00199—Electrical control of surgical instruments with a console, e.g. a control panel with a display
-
- 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
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/00535—Surgical instruments, devices or methods, e.g. tourniquets pneumatically or hydraulically operated
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/50—Supports for surgical instruments, e.g. articulated arms
- A61B2090/5025—Supports for surgical instruments, e.g. articulated arms with a counter-balancing mechanism
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B2560/00—Constructional details of operational features of apparatus; Accessories for medical measuring apparatus
- A61B2560/04—Constructional details of apparatus
- A61B2560/0487—Special user inputs or interfaces
- A61B2560/0493—Special user inputs or interfaces controlled by voice
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- G—PHYSICS
- G10—MUSICAL INSTRUMENTS; ACOUSTICS
- G10L—SPEECH ANALYSIS OR SYNTHESIS; SPEECH RECOGNITION; SPEECH OR VOICE PROCESSING; SPEECH OR AUDIO CODING OR DECODING
- G10L17/00—Speaker identification or verification
- G10L17/22—Interactive procedures; Man-machine interfaces
Abstract
Description
Claims (9)
- 施術者の腕と共に動くことができるベースと、
手術器具が装着される収容孔が多数形成され、多数の収容孔のうちのいずれか一つの収容孔が第1位置に位置することができるように前記ベースに移動可能に設置される移動部と、
前記移動部の後方で前記第1位置に位置した収容孔を選択的に貫通するように前後進可能に配置されるシャフトと、
多数の収容孔に装着された手術器具のうちから選択されたいずれか一つの手術器具が第1位置に移動するように前記移動部を移動させる第1駆動部と、
前記第1位置に位置した手術器具を第1位置の前方に位置した第2位置に移動させるように前記シャフトを移動させる第2駆動部と、
前記第2位置に移動した手術器具に動力を提供する第3駆動部と、を含む着用可能な手術用ロボットアーム。 - 前記移動部は、前記ベースに回転可能な形態に配置されることを特徴とする請求項1に記載の着用可能な手術用ロボットアーム。
- 前記第3駆動部は、シャフトに備えられることを特徴とする請求項1に記載の着用可能な手術用ロボットアーム。
- 前記シャフトの先端には、前記第3駆動部から提供される動力を伝達することができる駆動ホイールが備えられ、前記手術器具の後端には、前記駆動ホイールに対応する位置に備えられて、駆動ホイールとかみ合う従動ホイールが備えられることを特徴とする請求項3に記載の着用可能な手術用ロボットアーム。
- 前記ベースには、施術者が制御信号を入力することができる入力部が備えられることを特徴とする請求項1に記載の着用可能な手術用ロボットアーム。
- 前記入力部は、手術器具の動作制御のための制御信号を入力することができる第1入力部を含むことを特徴とする請求項5に記載の着用可能な手術用ロボットアーム。
- 前記入力部は、第1駆動部及び第2駆動部の駆動のための制御信号を入力することができる第2入力部を含むことを特徴とする請求項5に記載の着用可能な手術用ロボットアーム。
- 前記第2入力部は、施術者の音声を認識する音声入力部と、前記音声入力部を介して入力された音声に応じて、第1駆動部及び第2駆動部の駆動のための制御信号を生成する音声認識部を含むことを特徴とする請求項7に記載の着用可能な手術用ロボットアーム。
- 前記ベースを移動可能な状態で支持する多関節支持アームをさらに含むことを特徴とする請求項1に記載の着用可能な手術用ロボットアーム。
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
KR1020180129218A KR102168567B1 (ko) | 2018-10-26 | 2018-10-26 | 착용 가능한 수술용 로봇 암 |
KR10-2018-0129218 | 2018-10-26 | ||
PCT/KR2019/009569 WO2020085624A1 (ko) | 2018-10-26 | 2019-07-31 | 착용 가능한 수술용 로봇 암 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2022513393A true JP2022513393A (ja) | 2022-02-07 |
JP7330543B2 JP7330543B2 (ja) | 2023-08-22 |
Family
ID=70330329
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2021548484A Active JP7330543B2 (ja) | 2018-10-26 | 2019-07-31 | 着用可能な手術用ロボットアーム |
Country Status (6)
Country | Link |
---|---|
US (1) | US20220241030A1 (ja) |
EP (1) | EP3871629A4 (ja) |
JP (1) | JP7330543B2 (ja) |
KR (1) | KR102168567B1 (ja) |
CN (1) | CN113164217A (ja) |
WO (1) | WO2020085624A1 (ja) |
Families Citing this family (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP3709927A4 (en) * | 2017-11-16 | 2020-12-23 | Intuitive Surgical Operations Inc. | MASTER / SLAVE REGISTRATION AND CONTROL FOR REMOTE OPERATION |
CN117400228B (zh) * | 2023-12-04 | 2024-04-02 | 广东东软学院 | 一种用于工业流水线快速装配的穿戴式机械臂 |
Citations (4)
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KR20120068097A (ko) * | 2010-11-15 | 2012-06-27 | 엘지전자 주식회사 | 수술기구, 로봇 암 및 이를 포함하는 수술용 로봇 시스템 |
US20140222023A1 (en) * | 2013-02-04 | 2014-08-07 | Children's National Medical Center | Hybrid control surgical robotic system |
JP2016041377A (ja) * | 2005-06-06 | 2016-03-31 | インテュイティブ サージカル インコーポレイテッド | 腹腔鏡超音波ロボット外科手術システム |
JP2018143426A (ja) * | 2017-03-03 | 2018-09-20 | リバーフィールド株式会社 | 動力伝達アダプタおよび医療用マニピュレータシステム |
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US4979949A (en) * | 1988-04-26 | 1990-12-25 | The Board Of Regents Of The University Of Washington | Robot-aided system for surgery |
US6860878B2 (en) * | 1998-02-24 | 2005-03-01 | Endovia Medical Inc. | Interchangeable instrument |
US8088062B2 (en) * | 2007-06-28 | 2012-01-03 | Ethicon Endo-Surgery, Inc. | Interchangeable endoscopic end effectors |
KR101004690B1 (ko) | 2008-07-17 | 2011-01-04 | (주)미래컴퍼니 | 수술용 로봇 시스템 및 그 구동 방법 |
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KR101180665B1 (ko) * | 2009-07-03 | 2012-09-07 | 주식회사 이턴 | 하이브리드 수술용 로봇 시스템 및 수술용 로봇 제어방법 |
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GB201315030D0 (en) * | 2013-08-22 | 2013-10-02 | Knight Martin | Magazine |
CN112402015A (zh) * | 2015-06-23 | 2021-02-26 | 柯惠Lp公司 | 机器人手术组合件 |
CN105105850B (zh) * | 2015-08-14 | 2017-11-03 | 福州环亚众志计算机有限公司 | 一种用于医疗器械工程的智能辅助机器人 |
CN107951564A (zh) * | 2017-12-15 | 2018-04-24 | 长沙志唯电子科技有限公司 | 一种可自动换刀医疗手术机器人手臂 |
CN108113757B (zh) * | 2017-12-20 | 2020-05-22 | 深圳先进技术研究院 | 穿戴式血管介入手术机器人装置 |
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2018
- 2018-10-26 KR KR1020180129218A patent/KR102168567B1/ko active IP Right Grant
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2019
- 2019-07-31 CN CN201980077595.1A patent/CN113164217A/zh active Pending
- 2019-07-31 JP JP2021548484A patent/JP7330543B2/ja active Active
- 2019-07-31 EP EP19876996.0A patent/EP3871629A4/en active Pending
- 2019-07-31 WO PCT/KR2019/009569 patent/WO2020085624A1/ko unknown
- 2019-07-31 US US17/288,580 patent/US20220241030A1/en active Pending
Patent Citations (4)
Publication number | Priority date | Publication date | Assignee | Title |
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JP2016041377A (ja) * | 2005-06-06 | 2016-03-31 | インテュイティブ サージカル インコーポレイテッド | 腹腔鏡超音波ロボット外科手術システム |
KR20120068097A (ko) * | 2010-11-15 | 2012-06-27 | 엘지전자 주식회사 | 수술기구, 로봇 암 및 이를 포함하는 수술용 로봇 시스템 |
US20140222023A1 (en) * | 2013-02-04 | 2014-08-07 | Children's National Medical Center | Hybrid control surgical robotic system |
JP2018143426A (ja) * | 2017-03-03 | 2018-09-20 | リバーフィールド株式会社 | 動力伝達アダプタおよび医療用マニピュレータシステム |
Also Published As
Publication number | Publication date |
---|---|
KR102168567B1 (ko) | 2020-10-21 |
US20220241030A1 (en) | 2022-08-04 |
WO2020085624A1 (ko) | 2020-04-30 |
EP3871629A1 (en) | 2021-09-01 |
EP3871629A4 (en) | 2022-09-21 |
KR20200047137A (ko) | 2020-05-07 |
JP7330543B2 (ja) | 2023-08-22 |
CN113164217A (zh) | 2021-07-23 |
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