JP4472365B2 - 医療器具保持装置 - Google Patents
医療器具保持装置 Download PDFInfo
- Publication number
- JP4472365B2 JP4472365B2 JP2004015671A JP2004015671A JP4472365B2 JP 4472365 B2 JP4472365 B2 JP 4472365B2 JP 2004015671 A JP2004015671 A JP 2004015671A JP 2004015671 A JP2004015671 A JP 2004015671A JP 4472365 B2 JP4472365 B2 JP 4472365B2
- Authority
- JP
- Japan
- Prior art keywords
- holding
- arm
- switch
- input means
- medical instrument
- 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
- 238000000034 method Methods 0.000 description 29
- 239000012530 fluid Substances 0.000 description 22
- 238000001514 detection method Methods 0.000 description 18
- 238000012423 maintenance Methods 0.000 description 10
- 230000000007 visual effect Effects 0.000 description 9
- 238000010586 diagram Methods 0.000 description 4
- 230000000694 effects Effects 0.000 description 4
- 238000012986 modification Methods 0.000 description 4
- 230000004048 modification Effects 0.000 description 4
- 239000000470 constituent Substances 0.000 description 3
- 210000005224 forefinger Anatomy 0.000 description 3
- 210000003813 thumb Anatomy 0.000 description 3
- 230000002159 abnormal effect Effects 0.000 description 2
- 239000012141 concentrate Substances 0.000 description 2
- 238000001356 surgical procedure Methods 0.000 description 2
- 230000005856 abnormality Effects 0.000 description 1
- 210000004556 brain Anatomy 0.000 description 1
- 230000005684 electric field Effects 0.000 description 1
- 238000003780 insertion Methods 0.000 description 1
- 230000037431 insertion Effects 0.000 description 1
Images
Classifications
-
- 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
- A61B34/75—Manipulators having means for prevention or compensation of hand tremors
-
- 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
-
- 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
-
- 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
- A61B90/08—Accessories or related features not otherwise provided for
- A61B2090/0801—Prevention of accidental cutting or pricking
Landscapes
- Health & Medical Sciences (AREA)
- Surgery (AREA)
- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Medical Informatics (AREA)
- General Health & Medical Sciences (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- Veterinary Medicine (AREA)
- Public Health (AREA)
- Robotics (AREA)
- Oral & Maxillofacial Surgery (AREA)
- Pathology (AREA)
- Endoscopes (AREA)
- Manipulator (AREA)
Description
Claims (5)
- 多関節からなるアームと、
前記アームに設けられ医療器具を保持する保持部と、
少なくとも2つの入力手段と、
前記2つの入力手段の操作をそれぞれ検出する検出回路を有し、2つの入力手段の両方が同時に操作された場合に前記入力手段の操作信号に基づいて前記アームを移動可能に制御する制御部と、
を備え、
前記制御部は、前記2つの入力手段のいずれか一つのみが所定時間操作された状態が続く場合に残りの入力手段の操作によって成立するアームの動きを制限することを特徴とする医療器具保持装置。 - 前記2つの入力手段は、前記操作者が把持して前記アームを移動操作する保持部に設けられ、操作者が把持する手で同時に操作可能であることを特徴とする請求項1記載の医療器具保持装置。
- 前記制御部は、前記保持部に保持された医療器具を移動可能なアームの状態と移動不能なアームの状態に切替え可能であることを特徴とする請求項1または請求項2に記載の医療器具保持装置。
- 前記制御部は、前記入力手段の入力結果に基づいて前記アームの動きを制限したとき、操作者に報知する報知手段を有していることを特徴とする請求項1〜3のいずれかに記載の医療器具保持装置。
- 多関節からなるアームと、
前記アームに設けられ医療器具を保持する保持部と、
少なくとも2つの入力手段と、
前記2つの入力手段の操作をそれぞれ検出する検出回路を有し、2つの入力手段の両方が同時に操作された場合に前記入力手段の操作信号に基づいて前記アームを移動可能に制御する制御部と、
を備え、
前記制御部は、前記2つの入力手段のいずれか一つのみが所定時間操作された状態が続く場合にその状態を操作者に報知する報知手段を有していることを特徴とする医療器具保持装置。
Priority Applications (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2004015671A JP4472365B2 (ja) | 2004-01-23 | 2004-01-23 | 医療器具保持装置 |
EP05001238A EP1557134B1 (en) | 2004-01-23 | 2005-01-21 | Apparatus for holding a medical device and method for prohibiting movement of a medical device held by the apparatus |
DE602005002373T DE602005002373T2 (de) | 2004-01-23 | 2005-01-21 | Vorrichtung zur Aufnahme eines medizinischen Instrumentes und Verfahren zum Festhalten des Instrumentes |
US11/042,945 US7904206B2 (en) | 2004-01-23 | 2005-01-24 | Method and apparatus for removably holding medical device |
US12/910,945 US8271135B2 (en) | 2004-01-23 | 2010-10-25 | Method and apparatus for removably holding medical device |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2004015671A JP4472365B2 (ja) | 2004-01-23 | 2004-01-23 | 医療器具保持装置 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2005204999A JP2005204999A (ja) | 2005-08-04 |
JP4472365B2 true JP4472365B2 (ja) | 2010-06-02 |
Family
ID=34631947
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2004015671A Expired - Lifetime JP4472365B2 (ja) | 2004-01-23 | 2004-01-23 | 医療器具保持装置 |
Country Status (4)
Country | Link |
---|---|
US (2) | US7904206B2 (ja) |
EP (1) | EP1557134B1 (ja) |
JP (1) | JP4472365B2 (ja) |
DE (1) | DE602005002373T2 (ja) |
Families Citing this family (26)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP4813067B2 (ja) * | 2005-03-14 | 2011-11-09 | オリンパス株式会社 | 内視鏡装置 |
JP2006288751A (ja) * | 2005-04-11 | 2006-10-26 | Olympus Corp | 電動湾曲内視鏡装置 |
DE102007006891A1 (de) * | 2007-02-13 | 2008-08-14 | University Of Dundee | Haltevorrichtung für medizinische Zwecke |
JP4914736B2 (ja) | 2007-02-14 | 2012-04-11 | オリンパスメディカルシステムズ株式会社 | 内視鏡システム |
DE102007019363B4 (de) * | 2007-04-23 | 2009-06-25 | Jürgen Michael Knapp | Operations-Assistenz-System |
US20090182196A1 (en) * | 2007-10-30 | 2009-07-16 | The Cleveland Clinic Foundation | Method and apparatus for manually guiding an endoscope |
EP2067580A1 (en) * | 2007-12-04 | 2009-06-10 | Metris IPR N.V. | Articulated arm measuring machine endowed with automatic brake |
GB0804633D0 (en) * | 2008-03-12 | 2008-04-16 | Prosurgics Ltd | a telescopic support |
JP5218524B2 (ja) * | 2010-03-15 | 2013-06-26 | 株式会社安川電機 | ロボットシステムおよびロボット動作規制方法 |
DE102010052219A1 (de) * | 2010-11-24 | 2012-05-24 | Karl Storz Gmbh & Co. Kg | Haltesystem für medizinische Instrumente |
DE102011004370A1 (de) * | 2011-02-18 | 2012-08-23 | Siemens Aktiengesellschaft | Gelenkarm mit Feststellmechanismus |
FI127303B (fi) * | 2011-03-21 | 2018-03-15 | Planmeca Oy | Intraoraaliröntgenlaitteen varsirakenne |
JP6132932B2 (ja) * | 2013-11-11 | 2017-05-24 | 株式会社三五 | 支持装置 |
DE102015104810A1 (de) * | 2015-03-27 | 2016-09-29 | Medineering Gmbh | Verfahren und Vorrichtung zum Steuern eines chirurgischen mechatronischen Assistenzsystems mittels eines Haltearms für medizinische Zwecke |
JP6616091B2 (ja) * | 2015-03-31 | 2019-12-04 | 学校法人慶應義塾 | アーム機構 |
US10058394B2 (en) * | 2015-07-31 | 2018-08-28 | Globus Medical, Inc. | Robot arm and methods of use |
CA2998557C (en) * | 2015-09-14 | 2023-06-27 | Interlemo Holding S.A. | Smart active connector |
US10034716B2 (en) * | 2015-09-14 | 2018-07-31 | Globus Medical, Inc. | Surgical robotic systems and methods thereof |
JP6671721B2 (ja) * | 2016-03-31 | 2020-03-25 | 学校法人慶應義塾 | 支持装置 |
JP7463277B2 (ja) * | 2018-01-17 | 2024-04-08 | オーリス ヘルス インコーポレイテッド | 改善されたロボットアームを有する外科用ロボットシステム |
CN109662776B (zh) * | 2018-12-27 | 2020-08-11 | 北京术锐技术有限公司 | 一种高频电刀控制系统及其控制方法 |
JP7364424B2 (ja) | 2019-10-28 | 2023-10-18 | ファナック株式会社 | 回転軸モジュールおよびロボット |
CN113558773A (zh) * | 2020-04-28 | 2021-10-29 | 川崎重工业株式会社 | 手术辅助机器人 |
WO2022039296A1 (ko) * | 2020-08-19 | 2022-02-24 | 고무생 | 치료 보조 기구 |
USD1002014S1 (en) * | 2020-08-31 | 2023-10-17 | MAQUET CARDIOPULMONARY GmbH | Universal holder system |
JP7320296B6 (ja) * | 2021-10-27 | 2023-09-05 | リバーフィールド株式会社 | 手術支援装置 |
Family Cites Families (11)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
ATE43277T1 (de) * | 1984-04-09 | 1989-06-15 | Elektroniktechnologie Get | Elektronische warn- und ueberwachungseinrichtung fuer handhabungsvorrichtungen. |
JPH0688219B2 (ja) * | 1987-10-02 | 1994-11-09 | 株式会社日立製作所 | 可搬式教示装置 |
US5597146A (en) * | 1991-08-05 | 1997-01-28 | Putman; J. Michael | Rail-mounted stabilizer for surgical instrument |
CA2078295C (en) * | 1991-08-05 | 1995-11-21 | John Michael Putman | Endoscope stabilizer |
US6120433A (en) * | 1994-09-01 | 2000-09-19 | Olympus Optical Co., Ltd. | Surgical manipulator system |
US6331181B1 (en) * | 1998-12-08 | 2001-12-18 | Intuitive Surgical, Inc. | Surgical robotic tools, data architecture, and use |
JP2000190262A (ja) * | 1998-12-22 | 2000-07-11 | Denso Corp | ロボットの制御装置 |
US6245028B1 (en) * | 1999-11-24 | 2001-06-12 | Marconi Medical Systems, Inc. | Needle biopsy system |
JP4285926B2 (ja) | 2001-05-22 | 2009-06-24 | オリンパス株式会社 | 手術機器保持装置 |
US7607440B2 (en) * | 2001-06-07 | 2009-10-27 | Intuitive Surgical, Inc. | Methods and apparatus for surgical planning |
JP2004208922A (ja) * | 2002-12-27 | 2004-07-29 | Olympus Corp | 医療装置及び医療用マニピュレータ並びに医療装置の制御方法 |
-
2004
- 2004-01-23 JP JP2004015671A patent/JP4472365B2/ja not_active Expired - Lifetime
-
2005
- 2005-01-21 EP EP05001238A patent/EP1557134B1/en not_active Expired - Fee Related
- 2005-01-21 DE DE602005002373T patent/DE602005002373T2/de active Active
- 2005-01-24 US US11/042,945 patent/US7904206B2/en active Active
-
2010
- 2010-10-25 US US12/910,945 patent/US8271135B2/en active Active
Also Published As
Publication number | Publication date |
---|---|
EP1557134B1 (en) | 2007-09-12 |
US20110040406A1 (en) | 2011-02-17 |
DE602005002373D1 (de) | 2007-10-25 |
US7904206B2 (en) | 2011-03-08 |
DE602005002373T2 (de) | 2008-01-10 |
EP1557134A1 (en) | 2005-07-27 |
US8271135B2 (en) | 2012-09-18 |
JP2005204999A (ja) | 2005-08-04 |
US20050165271A1 (en) | 2005-07-28 |
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