JP2665052B2 - 遠隔中心位置決め装置 - Google Patents
遠隔中心位置決め装置Info
- Publication number
- JP2665052B2 JP2665052B2 JP6525511A JP52551194A JP2665052B2 JP 2665052 B2 JP2665052 B2 JP 2665052B2 JP 6525511 A JP6525511 A JP 6525511A JP 52551194 A JP52551194 A JP 52551194A JP 2665052 B2 JP2665052 B2 JP 2665052B2
- Authority
- JP
- Japan
- Prior art keywords
- instrument
- axis
- pivot
- manipulator device
- surgical
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Lifetime
Links
- 230000008878 coupling Effects 0.000 claims description 12
- 238000010168 coupling process Methods 0.000 claims description 12
- 238000005859 coupling reaction Methods 0.000 claims description 12
- 210000000707 wrist Anatomy 0.000 claims description 7
- 230000009471 action Effects 0.000 claims description 5
- 239000012636 effector Substances 0.000 claims 2
- 230000007246 mechanism Effects 0.000 description 11
- 238000001356 surgical procedure Methods 0.000 description 10
- 210000002307 prostate Anatomy 0.000 description 4
- 210000003815 abdominal wall Anatomy 0.000 description 3
- 238000006243 chemical reaction Methods 0.000 description 3
- 210000001015 abdomen Anatomy 0.000 description 2
- 238000012084 abdominal surgery Methods 0.000 description 2
- 229940079593 drug Drugs 0.000 description 2
- 239000003814 drug Substances 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000003780 insertion Methods 0.000 description 2
- 230000037431 insertion Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 102100033328 Ankyrin repeat domain-containing protein 42 Human genes 0.000 description 1
- 101000732369 Homo sapiens Ankyrin repeat domain-containing protein 42 Proteins 0.000 description 1
- 230000003187 abdominal effect Effects 0.000 description 1
- 229910052782 aluminium Inorganic materials 0.000 description 1
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 1
- 230000004323 axial length Effects 0.000 description 1
- 238000002316 cosmetic surgery Methods 0.000 description 1
- 230000009977 dual effect Effects 0.000 description 1
- 210000002149 gonad Anatomy 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000002357 laparoscopic surgery Methods 0.000 description 1
- 238000002350 laparotomy Methods 0.000 description 1
- 229910052751 metal Inorganic materials 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 150000002739 metals Chemical class 0.000 description 1
- 210000003205 muscle Anatomy 0.000 description 1
- 230000005855 radiation Effects 0.000 description 1
- 210000001519 tissue Anatomy 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/106—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links
- B25J9/1065—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links with parallelograms
-
- 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
-
- 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
- A61B34/71—Manipulators operated by drive cable mechanisms
-
- 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
- A61B34/76—Manipulators having means for providing feel, e.g. force or tactile feedback
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
-
- 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
- A61B2090/506—Supports for surgical instruments, e.g. articulated arms using a parallelogram linkage, e.g. panthograph
Landscapes
- Health & Medical Sciences (AREA)
- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Surgery (AREA)
- Robotics (AREA)
- Medical Informatics (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Surgical Instruments (AREA)
- Endoscopes (AREA)
Description
かなるベアリングまたは機械的支持具からも離れて、球
面回転の中心を提供する、遠隔中心位置決め装置に関す
る。特に、遠隔中心位置決め装置は、腹腔鏡を用いる手
術において、手術用器具を、いかなるベアリングまたは
機械的支持具からも離れ且つ患者の腹壁の入口切開部に
一致する固定した回転中心回りに移動させるために有用
である。
腹部に気体を吹き込み、小さな(約1/2インチ)切開部
を介してカニューレを通すことにより、腹腔鏡手術器具
用入口を設ける。腹腔鏡手術器具は一般に、手術領域を
視るための腹腔鏡と、クランプ、グラスパー、はさみ、
ステープラ、およびニードルホルダのようなツールとを
含む。これらのツールは、各ツールの端部が長さ約12イ
ンチの延長管によりハンドル部から分離していること以
外は、従来の(開腹)手術のツールと類似である。手術
の工程を行うために、外科医はカニューレを介して器具
を通し、カニューレに対して器具を出し入れすること、
カニューレ内で回転させること、および腹壁の筋肉の切
開部により概して規定された回転中心回りに「レバリン
グ」(回動)させることにより、器具を操作する。腹部
の切開部は、安定した参照位置または回転中心を提供し
ない。従って、操作中、器具の正確な位置制御を維持す
るために、外科医は、切開部と一致する固定点回りに手
動で器具を回動させることが必要であり得る。回動点を
手動で支持することは、外科医が腹腔鏡または他の重い
器具を操作するときに特に重要である。固定された方向
に器具を支持するためには機械的クランプデバイスが用
いられるが、これらのデバイスは器具を位置づけるため
の回転の遠隔中心を提供しない。
腹腔鏡による腹部手術において、手術器具の位置は、手
動または固定クランプにより直接制御されるよりも、サ
ーボモータによって制御される。サーボ制御の場合、手
術器具が、患者の腹壁の入口切開部と一致する固定回転
中心回りに移動させられることを確認するための手段が
設けられなければならない。移動または他の中心回りの
回転のような他のタイプの動きは、患者に傷を負わせ得
る。
た。従って、Jamesonによる米国特許第4,756,655号は、
3次元で自由に位置づけられるコントロールハンドル、
位置づけるツールを支持する固定具、およびツールの端
部をコントロールハンドルおよび支持構造と同一の方向
に動かせる連結システムを有する操作機構に関する。連
結システムは、コントロールハンドルと有効ボール/ソ
ケットジョイントとの間に連結された第1の連結部と、
有効ボール/ソケットジョイントと固定具との間に連結
された第2の連結部とを含む。各連結部は、平行四辺形
状に回転自在に連結された4つの連結メンバーと、支持
構造からの連結部を取り付けるための連結メンバーのう
ちの1つに接続されたジンバルとを含む。
との間に連結された第1の連結部と、該第1の連結部と
固定具との間に連結された第2の連結部とを含む。好適
な実施態様においては、連結システムは、有効ボール/
ソケットジョイントを介して直列に連結された2つの移
動機構を含み、各移動機構は、本質的に、支持機構に対
して2本の直交する軸回りに回転するようになったパン
タグラフである。コントロールハンドルの動きは、1つ
の移動機構によって、ボール/ソケットジョイントの互
いに逆方向の(あるいは、実施態様によっては同一方向
の)動きを誘導し、上記1つの移動機構が、第2の移動
機構によって、ツールの類似方向の動きを引き起こす。
それにより、ツールの動きは、コントロールハンドルの
移動方向と同一方向に起こる。連結システムは、従反作
用機構を制御する主反作用機構に向けられ、球面回転の
遠隔中心を提供しない。
典型的にはフックによって手術器具を適切な位置に保持
する手術用保持デバイスを開示している。該デバイス
は、手術用保持デバイスを移動可能に静止物に保持する
ホルダブロックと、手術用器具が挿入され得て固定して
クランプされ得る、少なくとも1つの挿入部材とを含
む。該挿入部材と該ホルダブロックとの間には、中間ピ
ンポイントを有する二重アーム回動可能スタンドが配置
されている。回動可能スタンドは、一端においてボール
/ソケットジョイントにより挿入部材と連結され、他端
において別のボール/ソケットジョイントにより、突出
したアームに連結されている。突出したアームは、後者
においてホルダブロックに対してランダムな高さおよび
角度で、固定してクランプされ得る。
ュテータ」と題された、1989年のIEEE Engineering in
Medicine and Biology Society 11th Annual Internati
onal Conferenceに提出された論文において、眼の硝子
体切除そして放射線による角膜切除および整形手術のよ
うな他の医学分野で用いられる構造が示されている。該
論文の図2および図3には、SMOSの機械的構造が示され
ている。キャリアが、回転自在に取り付けられた湾曲し
たリスト部を保持している。器具ホルダが、入口の孔に
通した針を見ながら仕事をするために器具または針を保
持するリスト部に移動可能に取り付けられている。これ
は、ゼロ点が入口Aである、参考における球面座標内で
実現したものとして述べられている。それ自体が硝子体
切除手術の主要な作用である、これらの移動を可能にす
る機構は、マイクロテレマニピュレータのリスト部と呼
ばれている。
3月号の「ロボティック手術」と題された記事に、前立
腺手術に用いられるモータ式フレーム(図8)が示され
ている。図8は、SARPと呼ばれるデバイスの主要な機械
的構成部分の模式的なレイアウトである。エンベロープ
は小さく、安全性を向上させるために機械的停止部材を
用いてフレキシブルに圧迫され得る。エンベロープは、
概して三角錐の錐台である。成立腺内部から不要な肥大
した組織を除去するためには、前立腺の大きさによっ
て、いくつかの三角錐が必要である。
のキャビティしか形成しない。しかし、モータ式フレー
ムは、三角錐形状および樽形状キャビティの両方を形成
することができる。初めは、一度に1つより多くの軸に
沿って移動することを回避するために、三角錐形状のキ
ャビティが勧められる。三角錐形状のキャビティは、熱
いループ状電気外科装置を用いて容易に製造される。手
動フレーム同様、逆方向の湾曲部に適合する環状フレー
ムが、レゼクトスコープを保持するキャリッジである。
レゼクトスコープに固定されたC字形ブラケットが、レ
ゼクトスコープへのモータ式フレームの導入を容易にす
ることを補助する。軸は、モータにより駆動されるよう
に設計されている。サーボ作用が不可能な場合、バック
ドライビングが可能である。カッティングループの突出
および退避を反復し、カッターのリターンストローク時
にカッティング用電流をオンすることによって、連続的
にカッティングが行われる。各カッティング毎にリング
が新しい位置に移動する。封鎖するものを放出するため
に、いくつかの三角錐形状のキャビティが前立腺から切
除され得る。前立腺内部において1以上のこれらの三角
錐形状キャビティを達成するために、フレームが環状軸
の回転軸に沿って軸方向に移動するように、フレームが
ヘッドトラベルに固定される。
ムされるような、外科分野における妨害を最小にしなが
ら手術における回転の遠隔中心を提供する、軽量且つ簡
単な装置を提供することはない。
の回転中心回りに器具を移動させるための装置が提供さ
れる。ベース支持手段は表面に固定して取り付けられ
る。第1の連結手段は、ベース支持手段に回動自在に取
り付けられて軸回りに回転する。保持手段は、器具の所
望の球面回転の遠隔中心が第1の連結手段の回転軸上に
あるように、器具を適切な位置に保持するために設けら
れている。第2の連結手段は、器具の球面回転の遠隔中
心が所望の位置に維持されるように、保持手段に連結さ
れて且つ第1の連結手段に回動自在に連結されている。
イスを提供する。回転のx−x軸を有するピボットジョ
イントは、一端が回動自在に取り付けされた第1の連結
部材を有する。第1の連結部材の回転軸は、x−x軸に
垂直且つ交差する。他端は、ピボットジョイントから遠
隔である。平行四辺形状連結部材には、駆動端および遠
隔端が備わっている。平行四辺形状連結部材は、平行四
辺形状に回動自在に連結された、互いに対応する2つの
部材を2セット含む。平行四辺形状連結部材は、第1の
連結部材に平行な平面内に位置し、第1の連結部材の遠
隔端に回動自在に連結された駆動端を有する。器具用の
取り付け手段は、平行四辺形状連結部材の遠隔端から突
出している。取り付け手段は、それによって保持された
器具の軸をx−x軸に交差させて、所望の位置に器具の
球面回転の中心を設けるようになっている。
取り付けられたベース支持手段と、該ベース支持手段に
回動自在に取り付けられ且つその回りの回転軸を有する
ピボットプレートとを含む、腹腔鏡を用いた手術を行う
ための器具の球面回転の遠隔中心を供給するデバイスを
提供する。少なくとも1対の連結部材がピボットプレー
トから平行平面関係で突出している。連結部材の一端
が、ピボットプレートから離れた状態で回動自在に取り
付けられている。平行四辺形状連結手段は、連結部材に
連結されて、平行四辺形状に回動自在に連結された2つ
の互いに対応する連結メンバーを2セット含む。互いに
対応する2つの連結メンバーのセットのうちの一方は、
常に回転軸に平行であり、常に回転軸に平行である互い
に対応する連結メンバーのセットの連結メンバーの一方
は、両方の連結メンバーに回動自在に連結され、連結部
材の一方は、常に回転軸に平行な連結部材の両方に回動
自在に連結されている。平行四辺形状連結手段は、動作
端と駆動端とを有する。器具の部材は、平行四辺形状連
結手段の動作端から突出して、それと共に動く。器具の
部材は、回転の遠隔中心に望ましい部材の位置におい
て、回転軸に交差する。
ある。例えば、球面を走査し検査する顕微鏡または他の
器具の支持用としてである。狭い入口ポートを通過する
様々なツールまたは器具(手動でまたはロボットで用い
て位置決めされる)は、本発明の装置により支持され得
る。他の用途は、ユーザがディジタルスピーチ認識、フ
ットスイッチ、ヘットトラッキング、またはアイトラッ
キングデバイスを介して位置および腹腔鏡の方向を指令
する、腹腔鏡を用いた手術用の復腔鏡のロボットの補助
を得た位置決め、手動により位置決めされた腹腔鏡また
は腹腔鏡を用いた手術中における他の器具の支持、およ
び復腔鏡を用いた手術のための器具(腹腔鏡および様々
なツール)のテレロボティック操作を含む。上記テレロ
ボティック操作においては、ツールの動作端の位置がサ
ーボ制御され、外科医が患者から遠隔であり得る位置に
おいて入力された制御デバイスを操作するときに外科医
の手の動きを追う。外科医がテレロボティックシステム
を操作するときにツールの先端から外科医の手に位置、
力、および触覚を伝送するためには、位置、力、および
触覚のフィードバックセンサが用いられ得る。
あり、且つ、器具の所望の位置いおいて回転遠隔中心を
維持しながら様々な任務を果たすように器具を移動させ
る能力を有する装置を提供することにある。本発明の更
なる目的および利点は、本明細書の一部である添付の図
面を参照して行われる様々な実施態様の説明により明ら
かになる。
である。
面図である。
様の端面図である。
隔中心位置決め装置の一実施態様の側面図である。
め装置の側面図である。
の側面図である。
る。
である。
決め装置の一実施態様の側面図である。第1の連結手段
は、概して参照符号21で示し、平行四辺形状の第2の連
結手段は概して参照符号23で示す。第1の連結手段は、
ベースプレート上に回動自在に取り付けられてx−x軸
回りに回転する。第2の連結手段は、第1の連結手段に
回動自在に接続されて、第1の連結手段に平行な平面内
で移動するようになっている。5つの連結部材(それら
の延長部をも含む)11、12、13、14および15が、ピボッ
トジョイント16〜20に連結されている。部材13の一部が
平行四辺形状連結部のピボット20を越えて延びている。
平行四辺形状連結部は、連結メンバー13に動作端を有
し、連結メンバー12に駆動端を有している。細長い部材
13は、後に所望になるように、手術用器具または他のデ
バイスを保持し得る。ピボットジョイントは、それらを
含む平面内においてのみ、連結メンバーの相対的移動を
可能にする。
14と15、および連結メンバー12と13により形成される。
平行四辺形状の連結メンバー14および15の一部分は、平
行四辺形状の連結部材12および13の一部分と長さが同じ
であるように、長さが同一である。これらの部材は、平
行四辺形状に連結され、これらの部材により形成される
平面内においてのみ、相対的に移動する。概して参照符
号22で示す図転可能ジョイントは、適切なベース24に連
結されている。回転可能ジョイント22は、ベース支持手
段24に固定して取り付けられるベースプレート26に取り
付けられる。ピボットプレート28は、ピボット30および
32のような適切な手段により、ベースプレート26に回動
自在に取り付けられる。従って、ピボットプレート28
は、所望の角度θ2だけx−x軸回りに回転し得る。こ
れは、手動または適切な回動駆動モータ34により達成さ
れる得る。
レート28に回動自在に取り付けられる。連結部材11およ
び12、そしてリンク部材は、外科手術において用いられ
る器具を適切に支持し得るように比較的堅いか、または
フレキシブルでない。アルミニウムまたは他の金属で形
成されたロッドは、このような連結部材として有用であ
る。連結部材11および12は、ベースプレート28に回動自
在に取り付けられて、ピボット36および38により、回転
可能ジョイントに対して回転する。ピボット36および38
のうち少なくとも一方が、その回転軸がx−x軸に垂直
且つ交差するように位置づけられる。移動は、手動また
は連結駆動モータ40を用いて、起こり得る。第1の連結
部はまた、連結部材11および12、ピボット16および18に
より連結部材11および12に連結された連結部材15の一
部、およびベースプレート28により形成された平行四辺
形状である。従って、連結メンバーのうちの1つである
15は、第1の連結手段21と第2の連結手段23の両方に利
用されている。連結部材12もまた、第1の連結手段21と
第2の連結手段23の両方の共通のリンクを形成する。本
発明によると、連結部材11が回転するとき、および/ま
たはピボットプレート28が軸x−x回りに回転するとき
に、球面回転8の遠隔中心が装置の上記の実施態様によ
り供給される。従って、部材13の端部は、回転の遠隔中
心が同一の位置に留まっている間に、所望の角度θ1お
よびθ2だけ移動し得るか、またはそれ自身の軸回りに
回転し得る。
様を、図2、図2aおよび図3に示す。図2は側面図であ
り、図2aは図2のa−a線に沿った拡大断面図であり、
図3は遠隔位置決め装置の端面図である。好適な実施態
様の多くの部材は、図1の実施態様の部材と等価であ
る。これらの部材は、図2および図3において、同一の
番号にプライムを付けた符号で示す。従って、ピボット
プレート28′は、ピボット30′および32′のような適切
な手段により、ベース支持手段26′に回転自在に取り付
けられている。ピボットプレートとベースプレートと
は、x−xで示される回転軸を有する回転可能ジョイン
ト22′を形成する。ベースプレートは、適切なベース支
持手段24′に固定して取り付けられ得る。
28′から延びている。各連結部材の一端をピボットプレ
ートに回動自在に取り付けるために、取り付け手段36′
および38′が設けられている。連結部材の回転軸は、x
−x軸に垂直且つ交差している。チャネル形状の連結部
材115は、適切なピボットジョイント16′および18′を
介して、ピボットプレート28′から等距離にある連結部
材11′および12′の他端に回動自在に(それぞれ)連結
されている。対応する連結部材15′は、連結メンバー11
5内部に位置し、連結部材12′の上端に回動自在に連結
されている。ピボット17′と18′との間の連結メンバー
12′に対応する長さを有する連結メンバー13′が、ピボ
ット19′において連結メンバー15′に、ピボット20′に
おいて連結メンバー115に回動自在に連結されている。
器具取り付け手段44は、連結メンバー13′に固定して取
り付けられて、それと共に移動する。器具取り付け手段
44に保持された器具の軸は、回転ジョイント22′のx−
x軸に交差する。従って、取り付け手段に保持される器
具は、図2において参照符号8′によって示す位置回り
の球面回転の遠隔中心を有する。
ピボットプレート28′に動作可能に接続されている。シ
ャフト角度位置センサを有する第2の駆動モータ440
は、連結部材11′に動作可能に接続されている。本装置
を開ループまたは閉ループのサーボ制御において動作さ
せるために、パワーおよびセンサケーブル436および435
(それぞれ)を介して、適切な駆動および制御回路がモ
ータ/センサ440およびモータ/センサ434に接続され得
る。器具取り付け手段の取り付け構成の詳細を、図2の
a−a線に沿った断面図である図2aに示す。図示するよ
うに、取り付け手段44は、多軸力およびトルクセンサ40
0とピン部材118とを介して連結メンバー13′に固定して
取り付けられ、それと共に移動する。連結メンバー13′
は、ピボット20′において、ピン部材118回りに形成さ
れたベアリング手段116および117により、チャネル形状
の連結メンバー115に回動自在に連結されている。連結
メンバー15′は、ベアリング手段120およびピン部材121
により、連結メンバー13′に19′で回動自在に連結され
ている。
介して力およびトルクセンサ400に接続され得る。これ
により、取り付け手段44に支持された器具に付与された
力およびトルクからのセンサ信号が検出され得、本装置
の動作を監視または制御するために用いられ得る。例え
ば、センサ信号は、本発明の主−従形力反作用テレロボ
ティックサーボ制御において、入力された制御デバイス
が支持された器具に付与された力に対してのみ応答し、
慣性負荷、重力、または取り付け手段44以外の連結部材
に作用する外力の影響を受けないように、帰還信号とし
て用いられ得る。
具を移動させるために、装置が設けられる。ベース支持
手段は、表面に固定して取り付けられるようになってい
る。第1の連結手段11′および12′は、ベースプレート
に回動自在に取り付けられて軸回りに回転する。器具の
球面回転の所望の遠隔中心が軸に交差するように、器具
を適切な位置に保持する保持手段44が設けられる。第2
の連結手段15′、115および13′が保持手段に連結さ
れ、且つ、ピボット17′、18′、および16′によって第
1の連結手段に回動自在に連結されている。これによ
り、器具の球面回転の遠隔中心は、所望の位置に維持さ
れる。
の実施態様の模式的側面図である。多くの場合、回転の
遠隔中心8′をベースプレート26′の取り付け位置に対
して相対的に調整する手段を有することが望ましい。従
って、平行四辺形状の連結部材の水平部材14′および1
5′を軸方向に突出または退避させることが望ましい。
2つの互いに対応する部材14′および15′は、連結部材
の平行四辺形という形状を維持するために、同一の量で
増加または減少しなければならない。
ば図4に示すように、部材14′および15′の一部にラッ
ク42および44を設ける。管状部材46および48は部材14′
および15′を囲む。部材14′および15′は、駆動モータ
50、モータリード51、および駆動ベルト52のような適切
な手段によって、突出または退避する。部材を軸方向に
突出または退避させる他の手段もある。例えば、対をな
すリードねじが用いられ得、またはラチェット、ピンま
たはバネ戻り止めを用いて管状部材の所望の位置に部材
が手動固定され得る。
態様を示す。ここにおいて、モータ駆動式の構成が平行
四辺形状の連結部材の動作端部に位置している。駆動ユ
ニット60は、パワーおよび制御ケーブル62によって、パ
ワーおよび制御源に接続され、患者の腹部の壁を通過し
得るカニューレ64が設けられている。器具66は動作部材
68に取り付けられて、図5に示すように操作され得る。
上記の遠隔中心位置決め装置は、器具66が操作されてい
る間、球面回転の遠隔中心を位置80に維持する。
面図である。手術用器具73を作動するハンドル71は、遠
隔中心位置決め装置の動作端に連結されている。カニュ
ーレ75の動きは、球面回転の中心80′回りの回転に制限
されている。
レキシブルな駆動部材を利用した、本発明の一実施態様
の側面図であり、図7aは、図7のa−a線に沿った断面
図である。回転可能なジョイントは、参照符号122で示
される。回転可能なジョイントはx−x軸回りに回転す
る。従って、ピボットプレート128は、ベースプレート1
26に対して、ピボット130および132回りに、所望の角度
θ2だけ回転し得る。連結部材111はピボット133により
ピボットプレートに回動自在に取り付けられる。ピボッ
ト133は、その回転軸がx−x軸に垂直且つ交差するよ
うに位置づけられる。プーリ101は、ピボット133の回転
軸に同軸状となるように位置づけられている。プーリと
いう語が、ホイール、スプロケットなどを含むことは明
らかである。プーリは、ねじ105および107のような適切
な手段によって、ベースプレート128に固定して連結さ
れている。従って、プーリはベースプレート128に対し
て回転しない。
て、連結部材111に回動自在に連結されている。ピボッ
ト116と同軸状である第2のプーリ121は、ねじ146およ
び147によって連結メンバー114に固定して連結されてい
る。ベルト、チェーン、またはケーブルのようなフレキ
シブルな駆動連結部材135は、ノンスリップモードで
(自転車のチェーンまたはタイミングベルトのように)
プーリ121および101回りに連結されている。プーリ121
および101は、プーリ142および137と等しい直径を有す
る。連結メンバー140は、ピボットジョイント141によっ
て、連結メンバー114の動作端に回動自在に連結されて
いる。
143および145によって、連結メンバー140に固定して連
結されている。ピボット116と同軸状である第4のプー
リ142は、ねじ160および161によって、連結部材111に固
定して連結されている。第2のフレキシブルな駆動リン
ク150は、ノンスリップ関係でプーリ137および142に連
結されている。従って、連結部材111が例えば連結駆動
モータ149によってピボット133回りに回転すると、その
動きはプーリによって連結メンバー140に伝えられ、連
結部材140は、強制的に連結部材111と平行に移動する。
このようにして、回転の遠隔中心は、図7の180に示す
ように維持される。
は、図8のa−a線に沿った断面図である。
で示されている。回転可能なジョイントは、x−x軸回
りに回転する。従って、ピボットプレート228は、所望
の角度θ2だけ、ピボット230および232回りを回転し得
る。連結部材211は、ピボット233によってピボットプレ
ート228に取り付けられている。ピボット233の軸は、x
−x軸に垂直且つ交差する。プーリ201は、ピボット233
の回転軸と同軸状になるように位置づけられる。プーリ
は、ねじ205および207のような適切な手段によって、ベ
ースプレートに固定して連結される。
2および216によって連結部材211に回動自在に連結され
る。連結メンバー214および215の他端は、適切なピボッ
トジョイント241および242によって、240で示す器具保
持手段などに連結される。第2のプーリ231は、適切な
ねじ251および252によって、連結部材215に固定して連
結されている。プーリ231は、ピボットジョイント216の
回転軸と同軸状に取り付けられている。フレキシブルな
駆動リンク260は、ノンスリップ関係においてプーリ201
と231の両方の回りに連結されている。この構成の効果
は、連結メンバー215および214を移動中x−x軸に平行
に保持し、且つ部材240を移動中連結部材211に平行に保
持し、それによって器具などの球面回転の遠隔中心を点
280に保持する。
様、および動作モードを述べてきた。しかし、保護を求
める本発明は開示された特定の実施態様に限られない。
実施態様は、発明を説明するためのものであって、制限
するものではない。本発明の精神から逸脱することな
く、改変および変更が他人によってなされ得る。従っ
て、以下の請求の範囲に規定される、本発明の精神およ
び範囲に含まれる、このような改変および変更は、本発
明に含まれるものである。
Claims (6)
- 【請求項1】外科手術を補助するためのマニピュレータ
装置であって、 第1の軸回りの回転運動の第1方向を許容する回転可能
ジョイントと、 近位端および遠位端と、手術用器具の軸と、該遠位端に
おける端部エフェクターとを有するタイプの手術用器具
を取り付けるための器具ホルダーと、 2又はそれ以上のピボットによって連結された連結部材
を有する調整可能な連結であって、該連結部材は、近位
部材および遠位部材を有し、該近位部材は該遠位部材の
第1端部に連結された第1端部を有し、該連結部材は、
2又はそれ以上のピボットの1つ以上の近位ピボット位
置で該回転可能ジョイントに連結された該近位部材の第
2端部を有し、それによって該第1の軸回りに該連結が
回転することを許容し、該連結部材は、2又はそれ以上
のピボットの1以上の遠位ピボット位置で該器具ホルダ
ーに連結された該遠位部材の第2端部を有し、該連結部
材はそれぞれのピボットの軸回りで回転運動の第2方向
を有し、それぞれのピボット軸は該第1の軸に直交して
おり、該器具ホルダーは該ピボット軸と直交する第3の
軸を有する連結と、 該手術用器具の端部エフェクターを操作するために器具
ホルダーに連結されたアクチュエータと、を有し、 該第1の軸および第3の軸が作用点で交差し、該作用点
は、少なくとも一つの近位ピボットから第1のほぼ一定
の距離だけ離れた位置にあり、該器具を保持する器具ホ
ルダーは、器具の一部が作用点と一致するようになって
おり、該器具が第1および第2軸の回りに回転するとき
に、該器具の一部が作用点と一致するように、該調整可
能な連結が器具の移動を強制する、外科手術補助用のマ
ニピュレータ装置。 - 【請求項2】前記連結部材の一つが、互いに平行な関係
で移動するように調整された、チャネル形状の部材およ
びロッドを有する、請求項1記載のマニピュレータ装
置。 - 【請求項3】さらに、前記器具ホルダーに連結されたド
ライブを有し、該ドライブは該器具の軸と平行な方向に
器具を往復駆動させる直線アクチュエータを有する、請
求項1記載のマニピュレータ装置。 - 【請求項4】さらに、前記器具ホルダーに連結されたド
ライブを有し、該ドライブは該器具の軸回りに器具を回
転させるアクチュエータを有する、請求項1記載のマニ
ピュレータ装置。 - 【請求項5】前記手術用器具は、リストを有し、該器具
の遠位端は、該リストの回りを器具シャフトに対して回
動可能であり、該装置は、さらに該リスト回りに該器具
シャフトの遠位端部を回転させる器具ホルダーに連結さ
れたアクチュエータを有する、請求項1記載のマニピュ
レータ装置。 - 【請求項6】前記連結部材の少なくとも一つは、フレキ
シブルな駆動部材を有し、該連結部材の一つの移動は、
フレキシブルな駆動部材によって連結の他の部分に伝達
される、請求項1記載のマニピュレータ装置。
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US6240493A | 1993-05-14 | 1993-05-14 | |
US08/062,404 | 1993-05-14 | ||
US62,404 | 1993-05-14 |
Related Child Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP9055324A Division JPH1014926A (ja) | 1993-05-14 | 1997-03-10 | 遠隔中心位置決め装置 |
Publications (2)
Publication Number | Publication Date |
---|---|
JPH08509886A JPH08509886A (ja) | 1996-10-22 |
JP2665052B2 true JP2665052B2 (ja) | 1997-10-22 |
Family
ID=22042265
Family Applications (2)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP6525511A Expired - Lifetime JP2665052B2 (ja) | 1993-05-14 | 1994-05-04 | 遠隔中心位置決め装置 |
JP9055324A Pending JPH1014926A (ja) | 1993-05-14 | 1997-03-10 | 遠隔中心位置決め装置 |
Family Applications After (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP9055324A Pending JPH1014926A (ja) | 1993-05-14 | 1997-03-10 | 遠隔中心位置決め装置 |
Country Status (5)
Country | Link |
---|---|
US (5) | US5800423A (ja) |
EP (1) | EP0699053B1 (ja) |
JP (2) | JP2665052B2 (ja) |
DE (1) | DE69417229T2 (ja) |
WO (1) | WO1994026167A1 (ja) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2003230565A (ja) * | 2002-02-12 | 2003-08-19 | Univ Tokyo | 能動トロカール |
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US6406472B1 (en) | 1993-05-14 | 2002-06-18 | Sri International, Inc. | Remote center positioner |
EP0699053B1 (en) * | 1993-05-14 | 1999-03-17 | Sri International | Surgical apparatus |
US5731804A (en) | 1995-01-18 | 1998-03-24 | Immersion Human Interface Corp. | Method and apparatus for providing high bandwidth, low noise mechanical I/O for computer systems |
US6646541B1 (en) | 1996-06-24 | 2003-11-11 | Computer Motion, Inc. | General purpose distributed operating room control system |
US6463361B1 (en) | 1994-09-22 | 2002-10-08 | Computer Motion, Inc. | Speech interface for an automated endoscopic system |
US5642469A (en) | 1994-11-03 | 1997-06-24 | University Of Washington | Direct-drive manipulator for pen-based force display |
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1994
- 1994-05-04 EP EP94916642A patent/EP0699053B1/en not_active Expired - Lifetime
- 1994-05-04 DE DE69417229T patent/DE69417229T2/de not_active Expired - Lifetime
- 1994-05-04 JP JP6525511A patent/JP2665052B2/ja not_active Expired - Lifetime
- 1994-05-04 WO PCT/US1994/004867 patent/WO1994026167A1/en active IP Right Grant
-
1995
- 1995-07-20 US US08/504,619 patent/US5800423A/en not_active Expired - Lifetime
- 1995-07-20 US US08/504,301 patent/US5931832A/en not_active Expired - Lifetime
- 1995-07-20 US US08/504,620 patent/US5817084A/en not_active Expired - Lifetime
-
1997
- 1997-03-10 JP JP9055324A patent/JPH1014926A/ja active Pending
-
1998
- 1998-09-08 US US09/149,828 patent/US6106511A/en not_active Expired - Lifetime
-
2006
- 2006-08-01 US US11/497,105 patent/US20060264915A1/en not_active Abandoned
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US4543033A (en) * | 1982-03-30 | 1985-09-24 | Karl-Franz Binder | Industrial robot |
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US5129911A (en) * | 1991-03-11 | 1992-07-14 | Siczek Bernard W | Orbital aiming device |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
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JP2003230565A (ja) * | 2002-02-12 | 2003-08-19 | Univ Tokyo | 能動トロカール |
Also Published As
Publication number | Publication date |
---|---|
DE69417229D1 (de) | 1999-04-22 |
WO1994026167A1 (en) | 1994-11-24 |
EP0699053A4 (en) | 1996-07-24 |
JPH1014926A (ja) | 1998-01-20 |
EP0699053B1 (en) | 1999-03-17 |
US5817084A (en) | 1998-10-06 |
JPH08509886A (ja) | 1996-10-22 |
EP0699053A1 (en) | 1996-03-06 |
US20060264915A1 (en) | 2006-11-23 |
US5800423A (en) | 1998-09-01 |
DE69417229T2 (de) | 1999-07-08 |
US5931832A (en) | 1999-08-03 |
US6106511A (en) | 2000-08-22 |
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