JP5050244B2 - 立体構造物を制御するための装置 - Google Patents
立体構造物を制御するための装置 Download PDFInfo
- Publication number
- JP5050244B2 JP5050244B2 JP2007501242A JP2007501242A JP5050244B2 JP 5050244 B2 JP5050244 B2 JP 5050244B2 JP 2007501242 A JP2007501242 A JP 2007501242A JP 2007501242 A JP2007501242 A JP 2007501242A JP 5050244 B2 JP5050244 B2 JP 5050244B2
- Authority
- JP
- Japan
- Prior art keywords
- base plate
- actuating drive
- alignment device
- plane
- guide tube
- 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.)
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Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/34—Trocars; Puncturing needles
- A61B17/3403—Needle locating or guiding means
-
- 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
- A61B17/34—Trocars; Puncturing needles
- A61B17/3403—Needle locating or guiding means
- A61B2017/3405—Needle locating or guiding means using mechanical guide means
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/34—Trocars; Puncturing needles
- A61B17/3403—Needle locating or guiding means
- A61B2017/3405—Needle locating or guiding means using mechanical guide means
- A61B2017/3409—Needle locating or guiding means using mechanical guide means including needle or instrument drives
-
- 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
- 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
- A61B90/10—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 for stereotaxic surgery, e.g. frame-based stereotaxis
- A61B90/11—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 for stereotaxic surgery, e.g. frame-based stereotaxis with guides for needles or instruments, e.g. arcuate slides or ball joints
-
- 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
Description
Claims (6)
- ベースプレートと、
ベースプレートに取り付けられる少なくとも1つのベースホルダと、
ベースホルダに回転を拘束する手段を有する玉継手を介して結合され、先端の位置が移動制御される保持ロッドと、
保持ロッドの先端側に、回転を拘束する手段を有する玉継手を介して接続され、保持ロッドの変位に応じ、所定の位置に保持され、それぞれ独立してX平面及びY平面方向に移動制御される2つの調整アームを具備する作動駆動装置と、
作動駆動装置の各調整アームの先端にそれぞれ設けられるボール頭と、2つのボール頭の間に設けられるガイドチューブとを有する位置合わせ装置と、
位置合わせ装置のガイドチューブによって案内される医療器具と
を具備する医療器具を位置決めするための機器。 - 前記調整アームが患者に対して曲がっていることを特徴とする請求項1に記載の機器。
- 前記ベースプレートが、骨格状または門形のフレームを含むことを特徴とする請求項1または2に記載の機器。
- 前記ベースプレートが、磁気式、空気圧式または機械的に前記ベースプレートに固締可能な前記フレームを再位置決めするための印を備えていることを特徴とする請求項3に記載の機器。
- 前記2つの作動駆動装置が、互いに上下に直接重ねて配置されることを特徴とする請求項1〜4のいずれか一項に記載の機器。
- 前記作動駆動装置が各々、遠隔制御可能なネジ留め式スピンドルを備えた、前記それぞれの調整アームをX−Y平面で調整するための複合スライドを含むこと
を特徴とする請求項1〜5のいずれか一項に記載の機器。
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE202004003646U DE202004003646U1 (de) | 2004-03-06 | 2004-03-06 | Vorrichtung zur Ansteuerung körperlicher Strukturen |
DE202004003646.0 | 2004-03-06 | ||
PCT/EP2005/002386 WO2005084565A1 (de) | 2004-03-06 | 2005-03-07 | Vorrichtung zur ansteuerung körperlicher strukturen |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2007527290A JP2007527290A (ja) | 2007-09-27 |
JP5050244B2 true JP5050244B2 (ja) | 2012-10-17 |
Family
ID=34917110
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2007501242A Active JP5050244B2 (ja) | 2004-03-06 | 2005-03-07 | 立体構造物を制御するための装置 |
Country Status (7)
Country | Link |
---|---|
US (1) | US10206708B2 (ja) |
EP (1) | EP1722698B1 (ja) |
JP (1) | JP5050244B2 (ja) |
AT (1) | ATE547987T1 (ja) |
CA (1) | CA2558576C (ja) |
DE (1) | DE202004003646U1 (ja) |
WO (1) | WO2005084565A1 (ja) |
Families Citing this family (22)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102006004703B4 (de) * | 2006-01-31 | 2016-08-04 | MedCom Gesellschaft für medizinische Bildverarbeitung mbH | Verfahren und Anordnung zum Betreiben eines Positionierungsroboters |
WO2011018100A1 (en) * | 2009-08-14 | 2011-02-17 | Elekta Ab (Publ) | Surgical apparatus |
CN101773411B (zh) * | 2010-03-19 | 2011-09-14 | 福州浩联医疗科技有限公司 | 穿刺定位装置 |
JP2013121407A (ja) * | 2011-12-09 | 2013-06-20 | Ndc Co Ltd | 顕微鏡を吊り下げた移動ユニット |
DE202011109495U1 (de) * | 2011-12-27 | 2013-01-08 | Isys Medizintechnik Gmbh | Nadelführung |
DE202012002296U1 (de) | 2012-03-10 | 2013-03-11 | Isys Medizintechnik Gmbh | Vorrichtung zum Nadelvorschub |
DE202012010230U1 (de) | 2012-10-26 | 2013-10-28 | Isys Medizintechnik Gmbh | Instrumentenführung |
US10274553B2 (en) | 2013-03-15 | 2019-04-30 | Canon U.S.A., Inc. | Needle placement manipulator with attachment for RF-coil |
DE202013007831U1 (de) * | 2013-09-04 | 2014-09-05 | Isys Medizintechnik Gmbh | Vorrichtung zur Anbringung von medizinischen Zielvorrichtungen u. dgl. |
DE102013111935A1 (de) * | 2013-10-30 | 2015-04-30 | Rg Mechatronics Gmbh | Rahmen zum Halten eines Chirurgieroboters, Verwendung eines solchen Rahmens in einem Chirurgieroboter-System, sowie Chirurgieroboter-System mit einem solchen Rahmen |
US9867667B2 (en) | 2014-02-27 | 2018-01-16 | Canon Usa Inc. | Placement apparatus |
US10251670B2 (en) | 2014-05-09 | 2019-04-09 | Canon U.S.A., Inc. | Positioning apparatus |
JP7045664B2 (ja) | 2014-09-12 | 2022-04-01 | ザ ブリガム アンド ウィメンズ ホスピタル インコーポレイテッド | ニードル位置決め装置 |
DE202015003206U1 (de) | 2015-05-03 | 2016-05-10 | Isys Medizintechnik Gmbh | Vorrichtung zur Positionierung von sterilen lnstrumenten |
US9867673B2 (en) | 2015-07-14 | 2018-01-16 | Canon U.S.A, Inc. | Medical support device |
US10639065B2 (en) | 2015-07-21 | 2020-05-05 | Canon U.S.A., Inc. | Medical assist device |
WO2017132505A1 (en) | 2016-01-29 | 2017-08-03 | Canon U.S.A., Inc. | Tool placement manipulator |
US10695087B2 (en) | 2016-10-19 | 2020-06-30 | Canon U.S.A., Inc. | Placement manipulator and attachment for positioning a puncture instrument |
CN108283514A (zh) * | 2018-03-22 | 2018-07-17 | 袁峰 | 一种三维椎间孔导向器 |
JP7332621B2 (ja) | 2018-04-13 | 2023-08-23 | アイシス メディツィンテクニック ゲーエムベーハー | 医療ロボット |
CN113397706A (zh) * | 2018-12-29 | 2021-09-17 | 华科精准(北京)医疗科技有限公司 | 一种手术导航系统 |
CN114271917B (zh) * | 2022-01-24 | 2023-12-26 | 山东第一医科大学(山东省医学科学院) | 一种心血管造影装置 |
Family Cites Families (16)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US2982248A (en) * | 1958-07-09 | 1961-05-02 | American Home Prod | Monkey chair |
US4407625A (en) * | 1981-05-15 | 1983-10-04 | Westinghouse Electric Corp. | Multi-arm robot |
US5176689A (en) | 1988-12-23 | 1993-01-05 | Medical Instrumentation And Diagnostics Corporation | Three-dimensional beam localization apparatus for stereotactic diagnoses or surgery |
US5257998A (en) | 1989-09-20 | 1993-11-02 | Mitaka Kohki Co., Ltd. | Medical three-dimensional locating apparatus |
US5201742A (en) | 1991-04-16 | 1993-04-13 | Hasson Harrith M | Support jig for a surgical instrument |
US5281232A (en) * | 1992-10-13 | 1994-01-25 | Board Of Regents Of The University Of Arizona/ University Of Arizona | Reference frame for stereotactic radiosurgery using skeletal fixation |
JP2665052B2 (ja) * | 1993-05-14 | 1997-10-22 | エスアールアイ インターナショナル | 遠隔中心位置決め装置 |
US6406472B1 (en) * | 1993-05-14 | 2002-06-18 | Sri International, Inc. | Remote center positioner |
DE19544559C1 (de) * | 1995-11-30 | 1997-07-03 | Knorr Bremse Systeme | Zweiteilige Bremsscheibe, insbesondere für Nutzfahrzeug-Scheibenbremsen |
DE29519103U1 (de) * | 1995-12-04 | 1997-01-09 | Vogele Michael | Vorrichtung zur Ansteuerung körperlicher Strukturen |
US6949106B2 (en) * | 1998-02-24 | 2005-09-27 | Endovia Medical, Inc. | Surgical instrument |
US6723106B1 (en) * | 1998-11-23 | 2004-04-20 | Microdexterity Systems, Inc. | Surgical manipulator |
WO2001034017A2 (en) * | 1999-11-12 | 2001-05-17 | Microdexterity Systems, Inc. | Manipulator |
CA2307063A1 (en) * | 2000-04-28 | 2001-10-28 | David A. Egan | System using anthropometric frame for measurement of bony spatial relationships |
EP1351619A4 (en) * | 2001-01-16 | 2011-01-05 | Microdexterity Systems Inc | SURGICAL MANIPULATOR |
US6997866B2 (en) * | 2002-04-15 | 2006-02-14 | Simon Fraser University | Devices for positioning implements about fixed points |
-
2004
- 2004-03-06 DE DE202004003646U patent/DE202004003646U1/de not_active Expired - Lifetime
-
2005
- 2005-03-07 EP EP05715797A patent/EP1722698B1/de active Active
- 2005-03-07 CA CA2558576A patent/CA2558576C/en active Active
- 2005-03-07 AT AT05715797T patent/ATE547987T1/de active
- 2005-03-07 US US10/591,821 patent/US10206708B2/en active Active
- 2005-03-07 WO PCT/EP2005/002386 patent/WO2005084565A1/de active Application Filing
- 2005-03-07 JP JP2007501242A patent/JP5050244B2/ja active Active
Also Published As
Publication number | Publication date |
---|---|
CA2558576C (en) | 2014-08-12 |
DE202004003646U1 (de) | 2005-09-01 |
CA2558576A1 (en) | 2005-09-15 |
JP2007527290A (ja) | 2007-09-27 |
WO2005084565A1 (de) | 2005-09-15 |
ATE547987T1 (de) | 2012-03-15 |
EP1722698A1 (de) | 2006-11-22 |
EP1722698B1 (de) | 2012-03-07 |
US10206708B2 (en) | 2019-02-19 |
US20070276407A1 (en) | 2007-11-29 |
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