JP5264505B2 - 手術器具のための力およびトルクセンサー - Google Patents
手術器具のための力およびトルクセンサー Download PDFInfo
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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- Health & Medical Sciences (AREA)
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Description
F.Cepolina and R.C.Michelini、「Review of Fixtures for Low−Invasiveness Surgery」、Int’l Journal of Medica1 Robotics and Computer Assisted Surgery、Vol.l、Issue 1、page 58
E=σ/ε
A=π(ro 2−ri 2)
I=(π/4)(ro 4−ri 4)
σ=(F/A)+(Mr/I)
ε=[ε1 ε2 ε3 ε4 ε5 ε6 ε7 ε8]
A=π(ro 2−ri 2)
I=(π/4)(ro 4−ri 4)
σ=Mr/I
σ1=FLr/I
σ2=F(L+1)r/I
E=σ/ε=>ε=σ/E
ε1=−FxLr/EI
ε2=−Fx(L+1)r/EI
ε2−ε1=−Fxlr/EI
ε4−ε3=Fxlr/EI
(ε4−ε3)−(ε2−ε1)=2Fxlr/EI
したがって、
圧縮ひずみ<0
ε7=−Fz/EA+Mxr/EI+FyLr/EI
ε5=−Fz/EA−Mxr/EI−FyLr/EI
ε8=−Fz/EA+Mxr/EI+Fy(1+L)r/EI
ε6=−Fz/EA−Mxr/EI−Fy(1+L)r/EI
[(ε8−ε6)−(ε7−ε5)]=−Fz/EA[(1−l)−(l−1)]
+Mxr/EI[(1−(−l))−(l−(−1))]
+Fyr/EI{[(l+L)−(−(l+L))]−[L−(−L)]}
=2lFyr/EI
したがって、
Claims (52)
- ロボット手術システムのマニピュレータアームと動作可能に接合するように構成された筐体部分と、
該筺体部分に結合された近位端と、遠位端と、該遠位端から近位に延びている遠位端部分と、該近位端から該遠位端まで延びている縦方向軸とを含むシャフトであって、該シャフトは、該シャフトの該縦方向軸に沿って延びている複数の溝部を含む、シャフトと、
該シャフトの該遠位端に隣接している該シャフトの該遠位端部分の上に取り付けられている複数のひずみゲージであって、該複数のひずみゲージのうちの各ひずみゲージは、光ファイバを含む光ファイバタイプのひずみゲージであり、該複数のひずみゲージのうちの各ひずみゲージに対して、該ひずみゲージは、該複数の溝部のうちの1つに取り付けられており、該ひずみゲージの該光ファイバは、該複数の溝部のうちの該1つにおいて該シャフトの該縦方向軸に沿って該遠位端部から延びている、複数のひずみゲージと、
該シャフトの該遠位端に動作可能に結合された手首関節と、
該手首関節に動作可能に結合された器具先端部と
を含む、手術器具。 - 前記複数の溝部は、前記シャフトの外面にある、請求項1に記載の器具。
- 前記複数のひずみゲージは、各4個の2つのグループから成る8個のひずみゲージを含み、1つのグループのひずみゲージのそれぞれは、前記シャフトの周りで90度の間隔を置いている、請求項1に記載の器具。
- 前記複数のひずみゲージは、各3個の2つのグループから成る6個のひずみゲージを含み、1つのグループのひずみゲージのそれぞれは、前記シャフトの周りで120度の間隔を置いている、請求項1に記載の器具。
- 前記複数のひずみゲージは、前記シャフトの周りで90度の間隔を置いている4個のひずみゲージを含む、請求項1に記載の器具。
- 前記複数のひずみゲージは、前記シャフトの周りで120度の間隔を置いている3個のひずみゲージを含む、請求項1に記載の器具。
- 前記複数のひずみゲージのそれぞれは、前記シャフトの縦方向軸と平行な軸に沿って、該複数のひずみゲージの1個の別のひずみゲージと整列させられる、請求項1に記載の器具。
- 前記複数のひずみゲージは、前記手首関節のピッチ軸およびヨーの軸の近位に配置されている、請求項1に記載の器具。
- 前記複数のひずみゲージのそれぞれのひずみ感知主方向は、前記シャフトの縦方向軸と平行に配向されている、請求項1に記載の器具。
- 前記複数のひずみゲージは、ファブリ・ペロー型ひずみゲージおよびファイバブラッググレーティング型ひずみゲージより成る群から選択される、請求項1に記載の器具。
- 前記複数のひずみゲージは、1つのファイバに沿う少なくとも2つのファイバブラッググレーティングを含む、請求項1に記載の器具。
- 前記遠位端部分のグリップ軸は、前記手首関節のヨー軸と同一である、請求項1に記載の器具。
- 前記手術器具の前記器具先端部は、ジョー、鋏、把持器、持針器、マイクロダイセクタ、ステープル留め器、鋲打ち器、吸引洗浄具、クリップ留め器、切断刃、焼灼プローブ、洗浄器、カテーテル、および吸引オリフィスより成る群から選択される、請求項1に記載の器具。
- 前記筐体部分は、前記マニピュレータアームを覆う無菌ドレープの無菌アダプタと接合する、請求項1に記載の器具。
- 前記筐体部分は、前記マニピュレータアームに任意に連結する、請求項1に記載の器具。
- 前記シャフトの前記縦方向軸に沿う軸力を感知するための前記筐体部分の近位に力センサをさらに含む、請求項1に記載の器具。
- 手術器具の力センサのための較正データを格納する集積回路をさらに含む、請求項1に記載の器具。
- 前記シャフトの前記縦方向軸からある角度で該シャフトから離れる前記複数のひずみゲージの前記光ファイバを配線するために、該シャフトの近位端に動作可能に結合された回転可能なひずみ緩和体をさらに含む、請求項1に記載の器具。
- マニピュレータアームを含むマニピュレータアセンブリと、
該マニピュレータアームに動作可能に結合された手術器具と
を含むロボット手術システムであって、
該手術器具は、
該マニピュレータアームに動作可能に接合する筐体部分と、
該筺体部分に結合された近位端と、遠位端と、該遠位端から近位に延びている遠位端部分と、該近位端から該遠位端まで延びている縦方向軸とを含むシャフトであって、該シャフトは、該シャフトの該縦方向軸に沿って延びている複数の溝部を含む、シャフトと、
該シャフトの該遠位端に隣接している該シャフトの該遠位端部分の上に取り付けられている複数のひずみゲージであって、該複数のひずみゲージのうちの各ひずみゲージは、光ファイバを含む光ファイバタイプのひずみゲージであり、該複数のひずみゲージのうちの各ひずみゲージに対して、該ひずみゲージは、該複数の溝部のうちの1つに取り付けられており、該ひずみゲージの該光ファイバは、該複数の溝部のうちの該1つにおいて該シャフトの該縦方向軸に沿って該遠位端部から延びている、複数のひずみゲージと、
該シャフトの該遠位端に動作可能に結合された手首関節と、
該手首関節に動作可能に結合された器具先端部と
を含む、ロボット手術システム。 - 前記マニピュレータアームは、患者側マニピュレータアームまたは内視鏡カメラマニピュレータアームである、請求項19に記載のシステム。
- 前記複数の溝部は、前記シャフトの外面にある、請求項19に記載のシステム。
- 前記複数のひずみゲージは、各4個の2つのグループから成る8個のひずみゲージを含み、1つのグループのひずみゲージのそれぞれは、前記シャフトの周りで90度の間隔を置いている、請求項19に記載のシステム。
- 前記複数のひずみゲージは、各3個の2つのグループから成る6個のひずみゲージを含み、1つのグループのひずみゲージのそれぞれは、前記シャフトの周りで120度の間隔を置いている、請求項19に記載のシステム。
- 前記複数のひずみゲージは、前記シャフトの周りで90度の間隔を置いている4個のひずみゲージを含む、請求項19に記載のシステム。
- 前記複数のひずみゲージは、前記シャフトの周りで120度の間隔を置いている3個のひずみゲージを含む、請求項19に記載のシステム。
- 前記複数のひずみゲージのそれぞれは、前記シャフトの縦方向軸と平行な軸に沿って、該複数のひずみゲージにおける1個の別のひずみゲージと整列させられる、請求項19に記載のシステム。
- 前記複数のひずみゲージは、前記手首関節のピッチ軸およびヨー軸の近位に配置されている、請求項19に記載のシステム。
- 前記複数のひずみゲージのそれぞれのひずみ感知主方向は、前記シャフトの縦方向軸と平行に配向されている、請求項19に記載のシステム。
- 前記複数のひずみゲージのそれぞれは、ファブリ・ペロー型ひずみゲージおよびファイバブラッググレーティング型ひずみゲージより成る群から選択される、請求項19に記載のシステム。
- 前記複数のひずみゲージは、1つのファイバに沿う少なくとも2つのファイバブラッググレーティングを含む、請求項19に記載のシステム。
- 前記遠位端部分のグリップ軸は、前記手首関節のヨー軸と同一である、請求項19に記載のシステム。
- 前記手術器具の前記器具先端部は、ジョー、鋏、把持器、持針器、マイクロダイセクタ、ステープル留め器、鋲打ち器、吸引洗浄具、クリップ留め器、切断刃、焼灼プローブ、洗浄器、カテーテル、および吸引オリフィスより成る群から選択される、請求項19に記載のシステム。
- 前記筐体部分は、前記マニピュレータアームを覆う無菌ドレープの無菌アダプタと接合する、請求項19に記載のシステム。
- 前記筐体部分は、前記マニピュレータアームに任意に連結する、請求項19に記載のシステム。
- 前記シャフトの前記縦方向軸に沿う軸力を感知するための前記筐体部分の近位に力センサをさらに含む、請求項19に記載のシステム。
- 前記シャフトの前記縦方向軸に沿う軸力を感知するための前記マニピュレータアームの上に力センサをさらに含む、請求項19に記載のシステム。
- 前記複数のひずみゲージにおけるひずみゲージからの信号間の少なくとも和および差に基づいて、力を計算するように構成されたプロセッサをさらに含む、請求項19に記載のシステム。
- 前記手術器具は、手術器具力センサのための較正データを格納する集積回路をさらに含む、請求項19に記載のシステム。
- 前記手術器具は、前記シャフトの前記縦方向軸からある角度で該シャフトから離れる前記複数のひずみゲージの前記光ファイバを配線するために、該シャフトの近位端に動作可能に結合された回転可能なひずみ緩和体をさらに含む、請求項19に記載のシステム。
- 力を感知する方法であって、
ロボット手術器具の器具先端部を操作することに応答して、複数のひずみゲージからひずみデータの組を受信することであって、該複数のひずみゲージのうちの各ひずみゲージは、光ファイバを含む光ファイバタイプのひずみゲージであり、
該器具先端部は、手術器具のシャフトの手首関節に動作可能に結合されており、
該手首関節は、該手術器具のシャフトの遠位端に動作可能に結合されており、
該シャフトは、筺体部分に結合された近位端と、遠位端と、該遠位端から延びている遠位端部分と、該近位端から該遠位端まで延びている縦方向軸とを含み、該シャフトは、該シャフトの該縦方向軸に沿って延びている複数の溝部を含み、
該複数のひずみゲージは、該シャフトの該遠位端に隣接している該シャフトの該遠位端部分の上に取り付けられており、該複数のひずみゲージのうちの各ひずみゲージに対して、該ひずみゲージは、該複数の溝部のうちの1つに取り付けられており、該ひずみゲージの該光ファイバは、該複数の溝部のうちの該1つにおいて該シャフトの該縦方向軸に沿って該遠位端部から延びている、ことと、
該ひずみデータの組における選択データを組み合わせることにより、選択データ間の少なくとも和および差を形成することであって、
該組み合わされた選択データは、末端部分に対して加えられる力を表す力データを生成し、
該力データに基づいて、該ロボット手術器具のユーザにフィードバックを伝送することと
を含む、方法。 - 前記力は、側力、軸力、およびトルクから成る群から選択される、請求項40に記載の方法。
- 前記力データは、定常状態の均一な温度変化から独立している、請求項40に記載の方法。
- 前記力データは、前記末端部分の遠位端への距離変動から独立している、請求項40に記載の方法。
- 前記力は、(ε1−ε2−ε3+ε4)EI/2lrによって定義される側力Fxであり、ε1、ε2、ε3、およびε4は、前記ひずみデータの組からの前記選択データであり、Eは、前記シャフトの材料の軸方向弾性係数であり、Iは、該シャフトの断面の慣性モーメントであり、lは、2つの一列のひずみゲージ間の距離であり、およびrは、該シャフトの軸から該ゲージの作用面までの半径である、請求項40に記載の方法。
- 前記力は、(ε5−ε6−ε7+ε8)EI/2lrによって定義される側力Fyであり、ε5、ε6、ε7、およびε8は、前記ひずみデータの組からの前記選択データであり、Eは、前記シャフトの材料の軸方向弾性係数、Iは、該シャフトの断面の慣性モーメントであり、lは、2つの一列のひずみゲージ間の距離であり、およびrは、該シャフトの軸から該ゲージの作用面までの半径である、請求項40に記載の方法。
- 前記力は、(ε1+ε2+ε3+ε4+ε5+ε6+ε7+ε8)EA/8によって定義される軸力Fzであり、ε1、ε2、ε3、ε4、ε5、ε6、ε7、およびε8は、前記ひずみデータの組からの前記選択データであり、Eは、前記シャフトの材料の軸方向弾性係数、およびAは、該シャフトの断面積である、請求項40に記載の方法。
- 前記ひずみデータの組における選択データを組み合わせることにより、トルクTyを形成することをさらに含み、
該トルクTyは、(ε1+ε2−ε3−ε4)EI/4rによって定義され、ε1、ε2、ε3、およびε4は、該ひずみデータの組からの前記選択データであり、Eは、前記シャフトの材料の軸方向弾性係数、Iは、該シャフトの断面の慣性モーメントであり、およびrは、該シャフトの軸から該ゲージの作用面までの半径である、請求項40に記載の方法。 - 前記ひずみデータの組における選択データを組み合わせることにより、トルクTxを形成することをさらに含み、
該トルクTxは、(−ε5−ε6+ε7+ε8)EI/4rによって定義され、ε5、ε6、ε7、およびε8は、該ひずみデータの組からの前記選択データであり、Eは、前記シャフトの材料の軸方向弾性係数、Iは、該シャフトの断面の慣性モーメントであり、およびrは、該シャフトの軸から該ゲージの作用面までの半径である、請求項40に記載の方法。 - 補正係数およびオフセットが決定されながら、力とトルクとの組み合わせを連続して、同時に、または組み合わせて前記器具先端部に加えることによって、前記手術器具を較正することをさらに含む、請求項40に記載の方法。
- 前記補正係数およびオフセットは、直接的にまたはニューラルネットワークを介して決定される、請求項40に記載の方法。
- 前記筐体部分の近位の力センサを使用して、前記シャフトの前記縦方向軸に沿う軸力を感知することをさらに含む、請求項40に記載の方法。
- 前記シャフトの外面は、摩擦防止表面である、請求項1、19、40のいずれか1項に記載の器具。
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2006
- 2006-09-29 US US11/537,241 patent/US8945095B2/en active Active
- 2006-12-13 CN CN2006800484751A patent/CN101340850B/zh active Active
- 2006-12-13 WO PCT/US2006/061994 patent/WO2007111737A2/en active Application Filing
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Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
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KR101772805B1 (ko) | 2016-03-07 | 2017-08-31 | 성균관대학교산학협력단 | 수술 로봇 시스템용 유저 인터페이스 장치 |
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JP2016083581A (ja) | 2016-05-19 |
CN101340850B (zh) | 2011-06-15 |
JP5700584B2 (ja) | 2015-04-15 |
WO2007111737A3 (en) | 2007-12-13 |
JP2009522016A (ja) | 2009-06-11 |
JP2013075195A (ja) | 2013-04-25 |
KR101342917B1 (ko) | 2013-12-18 |
EP1965711A2 (en) | 2008-09-10 |
US20070151390A1 (en) | 2007-07-05 |
WO2007111737A2 (en) | 2007-10-04 |
JP2015062751A (ja) | 2015-04-09 |
KR20080089582A (ko) | 2008-10-07 |
US20150164598A1 (en) | 2015-06-18 |
CN101340850A (zh) | 2009-01-07 |
EP1965711B1 (en) | 2016-08-31 |
US8945095B2 (en) | 2015-02-03 |
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