JP2022552042A - 低侵襲手術のための挿入可能ロボット - Google Patents
低侵襲手術のための挿入可能ロボット Download PDFInfo
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- A61B1/0008—Insertion part of the endoscope body characterised by distal tip features
- A61B1/00098—Deflecting means for inserted tools
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Abstract
Description
Claims (20)
- シャフトを通じて定められた長手方向作業チャンネルを含む前記シャフトであって、前記作業チャンネルは、近位端開口部を伴う近位端および遠位端開口部を伴う遠位端を有し、
前記長手方向作業チャンネル内への軸方向挿入用に構成された挿入可能チューブアセンブリであって、前記挿入可能チューブアセンブリは、湾曲した作業端部を有するガイドチューブおよび直線化チューブを含み、前記ガイドチューブの前記湾曲した作業端部は、前記直線化チューブの長手方向軸から離れるように偏向された静止定位を有し、
前記ガイドチューブの前記湾曲した作業端部が前記直線化チューブ内部に収容される時には、前記直線化チューブが、前記ガイドチューブの前記湾曲した作業端部を前記直線化チューブの前記長手方向軸に向かって自身の静止定位から離れるよう強制する、手術を行うための装置。 - 前記挿入可能チューブアセンブリは、前記作業チャンネルの前記近位端開口部への軸方向挿入用に構成される、請求項1に記載の装置。
- 前記挿入可能チューブアセンブリが前記作業チャンネル内にある時に、前記挿入可能チューブアセンブリの前記有効外径は、前記作業チャンネルの内径よりも小さい、請求項2に記載の装置。
- 前記ガイドチューブは、前記直線化チューブに対する並進において軸方向に可動である、請求項3に記載の装置。
- 前記ガイドチューブは、前記作業チャンネルに対して角度方向に回転可能である、請求項4に記載の装置。
- 前記ガイドチューブ内部に配置された手術具をさらに備える、請求項5に記載の装置。
- 前記手術具は、前記ガイドチューブに対する並進において軸方向に可動である、請求項6に記載の装置。
- 前記手術具は、前記ガイドチューブに対して角度方向に回転可能である、請求項7に記載の装置。
- 前記挿入可能チューブアセンブリ上に配置された伝動装置をさらに備え、前記伝動装置は、前記ガイドチューブに結合された並進駆動部および前記ガイドチューブに結合された回転駆動部を含む、請求項8に記載の装置。
- 内径を伴う長手方向作業チャンネルを有する内視鏡であって、前記作業チャンネルは、近位端開口部および遠位端開口部を含み、
前記近位端開口部を介して前記作業チャンネル内に軸方向に挿入されるチューブ列と、
前記チューブ列上に配置された遠位端を有するガイドチューブであって、前記ガイドチューブは、前記ガイドチューブの前記遠位端に湾曲した作業端部を含み、前記湾曲した作業端部は、前記ガイドチューブが静止定位にある時に、前記作業チャンネルの前記内径よりも大きい予め成形された第1有効径を有し、
前記ガイドチューブ上に配置された直線化チューブであって、前記チューブ列が前記作業チャンネル内に軸方向に挿入される時に、前記ガイドチューブは、前記湾曲した作業端部が前記直線化チューブ内部に位置するように前記直線化チューブ内で少なくとも部分的に受け取られ、
前記直線化チューブは、前記直線化チューブ内部の前記ガイドチューブの前記湾曲した作業端部を、前記第1有効径よりも小さい第2有効径まで機械的に歪ませる、手術用ロボット装置。 - 前記ガイドチューブが前記直線化チューブ内で受け取られる時に、前記ガイドチューブを通じて軸方向に配置された手術具をさらに備える、請求項10に記載の装置。
- 前記直線化チューブおよびガイドチューブが前記作業チャンネル内で受け取られる時に、前記第2有効径は、前記作業チャンネルの前記内径よりも小さい、請求項10に記載の装置。
- 前記手術具は、手術中に前記ガイドチューブに対する並進において軸方向に可動である、請求項12に記載の装置。
- 前記手術具は、手術中に前記ガイドチューブに対する回転において角度方向に可動である、請求項13に記載の装置。
- 前記ガイドチューブは、手術中に前記直線化チューブに対する並進において可動である、請求項13に記載の装置。
- 前記ガイドチューブは、手術中に前記作業チャンネルに対する回転において角度方向に可動である、請求項15に記載の装置。
- a)湾曲した先端部を有するガイドチューブおよび直線化チューブを含む同心チューブロボットを提供することと、
b)前記ガイドチューブの前記湾曲した先端部を前記直線化チューブ内部に位置付けることと、
c)前記ガイドチューブおよび直線化チューブを共に1つのチューブ列として内視鏡シャフト上の作業チャンネル内に挿入することと、
d)前記ガイドチューブを前記直線化チューブに対して並進させて、前記ガイドチューブの前記湾曲した作業端部を前記患者の体内に配備することと、
e)前記ガイドチューブの湾曲した作業端部を通じて手術具を手術部位に送達させることとを含む手術を行う方法。 - 前記ガイドチューブを前記作業チャンネルに対して回転させて、手術中に前記手術具を再配置することをさらに含む、請求項17に記載の方法。
- 前記ガイドチューブの前記湾曲した作業端部を前記直線化チューブ内にリトラクトさせることをさらに含む、請求項18に記載の方法。
- 前記第1同心チューブロボットを前記作業チャンネルから取り外して、異なる手術具を伴う第2同心チューブロボットを前記作業チャンネル内に挿入することをさらに含む、請求項19に記載の方法。
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US16/446,202 US11628020B2 (en) | 2019-06-19 | 2019-06-19 | Insertable robot for minimally invasive surgery |
US16/446,202 | 2019-06-19 | ||
PCT/US2020/038784 WO2020257679A1 (en) | 2019-06-19 | 2020-06-19 | Insertable robot for minimally invasive surgery |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2022552042A true JP2022552042A (ja) | 2022-12-15 |
JP7486267B2 JP7486267B2 (ja) | 2024-05-17 |
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Publication number | Publication date |
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US11628020B2 (en) | 2023-04-18 |
EP3986303A4 (en) | 2023-06-28 |
US20230240769A1 (en) | 2023-08-03 |
US20200397516A1 (en) | 2020-12-24 |
WO2020257679A1 (en) | 2020-12-24 |
KR20220038674A (ko) | 2022-03-29 |
US20230240768A1 (en) | 2023-08-03 |
EP3986303A1 (en) | 2022-04-27 |
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