JP5079327B2 - 最小アクセス処置のための挿入可能装置およびシステム - Google Patents
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Description
102 第1のハウジング
104 固定エレメント
106 機能エレメント
108 作動エレメント
110 針
112 第2のハウジング
114 アクセス開口部
118 アクセス開口部
120 長手軸線
122 ネジ付き部分
124 ホール
130 第1の自由度
135 シャトル
140 第2の自由度
150 第3の自由度
180 親ネジ
190 モータ
Claims (25)
- 管腔を有する構造体に挿入可能な装置であって:
第1のハウジングと;
前記第1のハウジングに移動可能に接続された少なくとも1つの機能エレメントであって、カメラエレメントを具備した、最小アクセス処置中の使用のための機能エレメントと;
管腔を有する構造体の壁上にあるいは壁に対して該挿入可能装置を取り外し可能に固定するための、該挿入可能装置に関連する固定エレメントと;
を備え、
該固定エレメントは、該挿入可能装置から突出して該装置の長手軸線とほぼ位置合わせされた針、クランプ、および粘着剤のうちの1つを備えていることを特徴とする挿入可能装置。 - 請求項1に記載の挿入可能装置において、
該装置は、前記第1のハウジングおよび前記機能エレメントに接続された少なくとも1つの作動エレメントであって、前記機能エレメントを少なくとも1つの自由度において前記ハウジングに関して移動させうる作動エレメントを備えていることを特徴とする挿入可能装置。 - 最小アクセス外科的処置に関連した使用のために構成された請求項1に記載の挿入可能装置において、
前記固定エレメントは、前記挿入可能装置から突出して該装置の長手軸線とほぼ位置合わせされた針を備え、
該挿入可能装置は、前記針を腹壁の組織内に挿入することによって、被検者の腹壁に対して取り外し可能に固定されうることを特徴とする挿入可能装置。 - 請求項1に記載の挿入可能装置において、
前記カメラエレメントは、CMOSイメージングセンサおよびCCDイメージセンサのうちの1つを備えていることを特徴とする挿入可能装置。 - 請求項1に記載の挿入可能装置において、
前記カメラエレメントは、レンズと、前記レンズを受け入れるとともに焦点調整部を収容するために内部にネジ山を有したレンズハウジング内に取り付けられたCCDイメージセンサと、を備えていることを特徴とする挿入可能装置。 - 請求項1に記載の挿入可能装置において、
該装置は、前記第1のハウジングおよび前記機能エレメントに接続された少なくとも1つの作動エレメントであって、カメラエレメントを少なくとも1つの自由度において前記ハウジングに関して移動させうる作動エレメントを備え、
前記少なくとも1つの自由度は:
該装置の長手軸線に対して略直角の第1の回転自由度と;
前記長手軸線と略一直線に並ぶ第2の回転自由度と;
前記長手軸線と略一直線に並ぶ第3の並進自由度と;
からなるグループから選択されていることを特徴とする挿入可能装置。 - 請求項1に記載の挿入可能装置において、
前記少なくとも1つの機能エレメントは、前記第1のハウジングに移動可能に接続された複数のカメラエレメントを備え、
該装置は、前記第1のハウジングおよび前記カメラエレメントに接続された複数の作動エレメントであって、前記カメラエレメントのそれぞれを少なくとも1つの自由度において前記ハウジングに関して移動させうる作動エレメントを備え、
前記少なくとも1つの自由度は:
該装置の長手軸線に対して略直角の第1の回転自由度と;
前記長手軸線と略一直線に並ぶ第2の回転自由度と;
前記長手軸線と略一直線に並ぶ第3の並進自由度と;
からなるグループから選択されていることを特徴とする挿入可能装置。 - 請求項1に記載の挿入可能装置において、
該装置は、前記第1のハウジングおよび前記機能エレメントに接続された少なくとも1つの作動エレメントであって、前記カメラエレメントを第1の回転自由度において前記ハウジングに関して移動させうる作動エレメントを備え、
前記第1の回転自由度は、該装置の長手軸線に対して略直角であり、前記機能エレメントが前記第1のハウジング内へ引き込まれかつ前記第1のハウジングから引き出されることを許容することを特徴とする挿入可能装置。 - 請求項8に記載の挿入可能装置において、
前記作動エレメントは、回転移動を生じさせるモータであり、前記モータによって生じる前記回転移動を前記長手軸線に対して略直角の方向に方向付けし直すように、前記機能エレメントに連結していることを特徴とする挿入可能装置。 - 請求項9に記載の挿入可能装置において、
前記作動エレメントは、ウォームギヤ組立体で前記機能エレメントに連結していることを特徴とする挿入可能装置。 - 請求項1に記載の挿入可能装置において、
前記第1のハウジングに回転可能に取り付けられた第2のハウジングと、
前記第1および第2のハウジングに接続された少なくとも1つの作動エレメントであって、前記機能エレメントを第2の回転自由度において前記ハウジングに関して移動させうる作動エレメントと、を備え、
前記第2の回転自由度は、該装置の長手軸線と略一直線に並び、前記第1のハウジングを前記第2のハウジングに関して回転させることを特徴とする挿入可能装置。 - 請求項1に記載の挿入可能装置において、
該装置は、前記第1のハウジングおよび前記機能エレメントに接続された少なくとも1つの作動エレメントであって、前記機能エレメントを第3の長手方向の自由度において前記第1のハウジングに関して移動させうる作動エレメントを備え、
前記第3の長手方向自由度は、該装置の長手軸線と略一直線に並び、前記機能エレメントが前記第3の自由度に沿って並進することを許容することを特徴とする挿入可能装置。 - 請求項12に記載の挿入可能装置において、
前記長手軸線に沿って移動可能なシャトルを備えており、
前記機能エレメントは、前記シャトルに取り付けられ、
前記作動エレメントは、親ネジに接続されて回転移動を生じさせるモータであり、該親ネジは、前記モータの回転移動を前記長手軸線に沿った前記シャトルの長手方向の移動に変換するように、前記シャトルのネジ付き部分に連結していることを特徴とする挿入可能装置。 - 請求項12に記載の挿入可能装置において、
複数の機能エレメントと、回転移動を生じさせる対応する数のモータと、前記長手軸線に沿って移動可能で、ネジ付き部分およびホールをそれぞれ有する対応する数のシャトルと、を備えており、
各機能エレメントは、シャトルに取り付けられ、
各モータは、親ネジに接続され、該親ネジは、前記モータの回転移動を前記長手軸線に沿った前記シャトルの長手方向の移動に変換するように、前記シャトルのうちの1つの前記ネジ付き部分に連結し、
各親ネジは、もう1つのシャトルの前記ホールを通過して、他のシャトルのためのガイドを提供することを特徴とする挿入可能装置。 - 請求項14に記載の挿入可能装置において、
各シャトルに取り付けられた少なくとも1つの作動エレメントであって、前記機能エレメントを第1の回転自由度において前記ハウジングに関して移動させうる作動エレメントとを備え、
前記第1の回転自由度は、前記長手軸線に対して略直角であり、前記機能エレメントが前記第1のハウジング内へ引き込まれかつ前記第1のハウジングから引き出されることを許容することを特徴とする挿入可能装置。 - 請求項15に記載の挿入可能装置において、
前記複数の作動エレメントは、互いに独立して前記機能エレメントのそれぞれを移動させうることを特徴とする挿入可能装置。 - 請求項1に記載の挿入可能装置において、
前記第1のハウジングに回転可能に取り付けられた第2のハウジングと、
前記第1および第2のハウジングに接続された少なくとも1つの作動エレメントであって、前記第2のハウジングに関して前記第1のハウジングを回転させうる作動エレメントと、を備え、
各ハウジングは、互いに位置合わせ可能なアクセス開口部を有していて、前記第1のハウジングが、前記機能エレメントをカバーするように回転され、かつ、前記機能エレメントを露出させるために前記アクセス開口部を位置合わせするように回転されうることを特徴とする挿入可能装置。 - 管腔を有する構造体に挿入可能な装置において:
第1のハウジングと;
前記第1のハウジングに回転可能に接続された第2のハウジングと;
前記第1のハウジングに移動可能に接続されたイメージセンサを有する少なくとも1つのカメラエレメントと;
前記第1のハウジングおよび前記カメラエレメントに接続された少なくとも1つの作動エレメントであって、前記カメラエレメントを少なくとも1つの自由度において前記第1のハウジングに関して移動することができ、前記少なくとも1つの自由度は、前記前記装置の長手軸線に対して略直角の第1の回転自由度と、前記長手軸線と略一直線に並ぶ第2の回転自由度と、前記長手軸線と略一直線に並ぶ第3の長手方向自由度とからなるグループから選択されるように構成された作動エレメントと;
管腔を有する構造体の壁上にあるいは壁に対して該装置を取り外し可能に固定することのための、前記第2のハウジングに関連する固定エレメントと;
を備え、
該固定エレメントは、該挿入可能装置から突出して該装置の長手軸線とほぼ位置合わせされた針、クランプ、および粘着剤のうちの1つを備えていることを特徴とする挿入可能装置。 - 管腔を有する構造体に挿入可能な装置において:
第1のハウジングと;
前記第1のハウジングに回転可能に接続された第2のハウジングと;
前記第1のハウジングに移動可能に接続されたイメージセンサをそれぞれ有する複数のカメラエレメントと;
前記第1のハウジングおよび前記第2のハウジングに接続された少なくとも1つの作動エレメントであって、前記第1のハウジングを前記第2のハウジングに関して回転させうる作動エレメントと;
前記カメラエレメントのそれぞれに接続された少なくとも1つの作動エレメントであって、前記カメラエレメントを第1の回転自由度において前記ハウジングに関して移動させることができ、前記第1の回転自由度は、該装置の長手軸線に対して略直角であるように構成された作動エレメントと;
管腔を有する構造体の壁上にあるいは壁に対して該装置を取り外し可能に固定するための、前記第2のハウジングに関連する固定エレメントと;
を備え、
該固定エレメントは、該挿入可能装置から突出して該装置の長手軸線とほぼ位置合わせされた針、クランプ、および粘着剤のうちの1つを備えていることを特徴とする挿入可能装置。 - 管腔を有する構造体に挿入可能な少なくとも1つの装置に通信接続された駆動装置を備えた最小アクセスシステムにおいて、
挿入可能装置は:
カメラエレメントを具備した、最小アクセス処置中の使用のための少なくとも1つの移動可能な機能エレメントと;
前記管腔を有する構造体の壁に対して前記挿入可能装置を固定するための少なくとも1つの固定エレメントと;
を備え、
該固定エレメントは、該挿入可能装置から突出して該装置の長手軸線とほぼ位置合わせされた針、クランプ、および粘着剤のうちの1つを備えていることを特徴とするシステム。 - 請求項20に記載のシステムにおいて、
前記挿入可能装置は、前記機能エレメントを少なくとも1つの自由度において移動させうる少なくとも1つの作動エレメントを備え、
前記駆動装置は、前記機能エレメントの移動をリモート制御するために駆動信号を供給することを特徴とするシステム。 - 請求項21に記載のシステムにおいて、
前記駆動装置は、前記挿入可能装置のハイブリッド制御を提供するように構成され、
前記駆動装置は、少なくとも1つの自由度において機能エレメント移動を独立して制御することを特徴とするシステム。 - 請求項21に記載のシステムにおいて、
前記駆動装置は、ユーザーが認識した目的物を視界に入れたままにしておくために、異なる視野から対象部位のイメージを得るようにカメラエレメント移動を少なくとも1つの自由度においてユーザーが制御する一方で、カメラエレメント移動を独立して制御することを特徴とするシステム。 - 請求項21に記載のシステムにおいて、
前記少なくとも1つの機能エレメントは、複数のカメラエレメントを備え、
前記駆動装置は、対象部位の立体的イメージを生じさせるために前記カメラエレメントの移動を独立して制御することを特徴とするシステム。 - 請求項24に記載のシステムにおいて、
前記駆動装置は、自動のよせ運動アルゴリズムに基づいてリアルタイムで対象部位の立体イメージを生成するように、前記カメラエレメントを独立して制御することを特徴とするシステム。
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EP1643895B1 (en) | 2019-07-10 |
WO2005009211A2 (en) | 2005-02-03 |
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