JP5501341B2 - ロボット外科手術器具のための滅菌ドレープインタフェース - Google Patents
ロボット外科手術器具のための滅菌ドレープインタフェース Download PDFInfo
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Description
(分野)
本発明の実施形態は、外科手術用ドレープの分野に関し、より具体的には、取り付けられた外科手術器具に動作を転送する設備を有するロボットマニピュレータのための外科手術用ドレープに関する。
最小侵襲性医療技術は、診断処置または外科手術処置中に損傷され得る無関係な組織の量を減らし、それによって、患者の回復時間、不快、有害な副作用を減らすために用いられてきた。最小侵襲性外科手術の従来の形態は内視鏡検査法を含む。内視鏡検査法のより一般的な形態のうちの1つは、腹腔鏡検査法であり、腹腔鏡検査法は、腹腔内の最小侵襲性検査または外科手術である。従来の腹腔鏡外科手術において、患者の腹腔は気体によって通気され、カニューレスリーブは、患者の腹部の筋肉組織における小さな(約1/2インチの)切開に通され、入口ポートを提供し、その入口ポートを通って、腹腔鏡外科手術器具が密閉した方式で通され得る。
ロボット外科手術システムは、滅菌外科手術器具と、ロボット外科手術マニピュレータと、ロボット外科手術マニピュレータの少なくとも一部分をカバーする滅菌ドレープとを含む。外科手術器具は、近位インタフェースと、遠位エンドエフェクタとを有する。近位インタフェースは、遠位エンドエフェクタに連結される2つの交差する回転軸を有するジンバルアセンブリを含む。ロボット外科手術マニピュレータは、ジンバルアセンブリを支える駆動プレートを有する。駆動プレートは、ジンバルアセンブリの軸の交点と一致する動作の中心の周りに2つの回転自由度を有する。滅菌ドレープは、ロボット外科手術マニピュレータの少なくとも一部分をカバーする滅菌シートと、滅菌シートに接着されたフレームと、ロボット外科手術マニピュレータの駆動プレートをカバーする器具インタフェースと、器具インタフェースをフレームに接続するダイヤフラムとを含む。
(項目1)
ロボット外科手術マニピュレータをカバーする滅菌ドレープであって、滅菌ドレープは、
該ロボット外科手術マニピュレータの少なくとも一部分をカバーする滅菌シートと、
該滅菌シートに接着される実質的に剛性のフレームと、
該ロボット外科手術マニピュレータの駆動プレートをカバーする器具インタフェースであって、該駆動プレートは、取り付けられた外科手術器具のジンバルアセンブリの第1の表面を支える駆動表面を有し、該駆動プレートは、該ジンバルアセンブリの軸の交点と一致する動作の中心の周りに2つの回転自由度を有する、器具インタフェースと、
該器具インタフェースを該フレームに接続するダイヤフラムと
を備えている、滅菌ドレープ。
(項目2)
前記ダイヤフラムは、前記駆動プレートの動作の中心を越えて前記駆動表面から外側に延びる該駆動プレートの突き出た部分を受ける開口部をさらに含み、前記器具インタフェースは、該駆動プレートの該突き出た部分を受けるように形作られる、項目1に記載の滅菌ドレープ。
(項目3)
前記ダイヤフラムは、前記器具インタフェース上の複数の整列特徴を受ける複数の開口部をさらに含む、項目1に記載の滅菌ドレープ。
(項目4)
前記フレームは、前記滅菌シートが接着される取り付け構造をさらに含み、該取り付け構造は前記ダイヤフラムに実質的に垂直に延びる、項目1に記載の滅菌ドレープ。
(項目5)
前記外科手術器具に回転動作を連結するために、前記器具インタフェースに隣接して円形の開口部に配置されるカップリングをさらに含み、該カップリングは、前記ダイヤフラムを係合してシールを提供する周辺溝を含む、項目1に記載の滅菌ドレープ。
(項目6)
前記カップリングは、前記外科手術器具を係合するために尖った突出部を有する面を含む、項目5に記載の滅菌ドレープ。
(項目7)
前記ダイヤフラムは、前記器具インタフェースと前記フレームとの間の領域において回旋状である、項目1に記載の滅菌ドレープ。
(項目8)
近位インタフェースと遠位エンドエフェクタとを有する滅菌外科手術器具であって、該近位インタフェースは2つの交差する回転軸を有するジンバルアセンブリを含み、該遠位エンドエフェクタは該近位インタフェースに対して2つの動作度を有し、該遠位エンドエフェクタは該ジンバルアセンブリに連結される、滅菌外科手術器具と、
駆動表面付きの駆動プレートを有するロボット外科手術マニピュレータであって、該駆動表面は取り付けられた外科手術器具の該ジンバルアセンブリの第1の表面を支え、該駆動プレートは該ジンバルアセンブリの軸の交点と一致する動作の中心の周りに2つの回転自由度を有する、ロボット外科手術マニピュレータと、
該ロボット外科手術マニピュレータの少なくとも一部分をカバーする滅菌ドレープであって、該滅菌ドレープは、
該ロボット外科手術マニピュレータの少なくとも一部分をカバーする滅菌シートと、
該滅菌シートに接着される実質的に剛性のフレームと、
該ロボット外科手術マニピュレータの該駆動プレートをカバーする器具インタフェースと、
該器具インタフェースを該フレームに接続するダイヤフラムと
を含む、滅菌ドレープと
を備えている、ロボット外科手術システム。
(項目9)
前記ダイヤフラムは、前記駆動プレートの動作の中心を越えて前記駆動表面から外側に延びる該駆動プレートの突き出た部分を受ける開口部をさらに含み、前記器具インタフェースは、該駆動プレートの該突き出た部分を受けるように形作られる、項目8に記載のロボット外科手術システム。
(項目10)
前記ダイヤフラムは、前記器具インタフェース上の複数の整列特徴を受ける複数の開口部をさらに含む、項目8に記載のロボット外科手術システム。
(項目11)
前記フレームは、前記滅菌シートが接着される取り付け構造をさらに含み、該取り付け構造は前記ダイヤフラムに実質的に垂直に延びる、項目8に記載のロボット外科手術システム。
(項目12)
前記外科手術器具に回転動作を連結するために、前記器具インタフェースに隣接して円形の開口部に配置されるカップリングをさらに含み、該カップリングは、前記ダイヤフラムを係合してシールを提供する周辺溝を含む、項目8に記載のロボット外科手術システム。
(項目13)
前記カップリングは、前記外科手術器具を係合するための尖った突出部を有する面を含む、項目12に記載のロボット外科手術システム。
(項目14)
前記ダイヤフラムは、器具インタフェースとフレームとの間の領域において回旋状である、項目8に記載のロボット外科手術システム。
(項目15)
ロボット外科手術マニピュレータと滅菌外科手術器具との間の滅菌バリアであって、該滅菌バリアは、
該ロボット外科手術マニピュレータの駆動プレートを囲む実質的に剛性のフレームであって、該駆動プレートは、取り付けられた外科手術器具のジンバルアセンブリの第1の表面を支える駆動表面を有し、該駆動プレートは、該ジンバルアセンブリの軸の交点と一致する動作の中心の周りに2つの回転自由度を有する、実質的に剛性のフレームと、
該駆動プレートをカバーする器具インタフェースと、
該器具インタフェースを該フレームに接続するダイヤフラムと
を備えている、滅菌バリア。
(項目16)
前記ダイヤフラムは、前記駆動プレートの動作の中心を越えて前記駆動表面から外側に延びる該駆動プレートの突き出た部分を受ける開口部をさらに含み、前記器具インタフェースは、該駆動プレートの該突き出た部分を受けるように形作られる、項目15に記載の滅菌バリア。
(項目17)
前記ダイヤフラムは、前記器具インタフェース上の複数の整列特徴を受ける複数の開口部をさらに含む、項目15に記載の滅菌バリア。
(項目18)
前記フレームに接着される滅菌シートをさらに備え、該滅菌シートは、前記ロボット外科手術マニピュレータの少なくとも一部分をカバーする、項目15に記載の滅菌バリア。
(項目19)
前記滅菌シートが接着される取り付け構造をさらに含み、該取り付け構造は前記ダイヤラムに実質的に垂直に延びる、項目18に記載の滅菌バリア。
(項目20)
前記フレームは、前記外科手術器具に回転動作を連結するために前記器具インタフェースに隣接して円形の開口部に配置されるカップリングをさらに含み、該カップリングは、前記ダイヤフラムを係合してシールを提供する周辺溝を含む、項目15に記載の滅菌バリア。
(項目21)
前記カップリングは、前記外科手術器具を係合するために尖った突出部を有する面を含む、項目20に記載の滅菌バリア。
(項目22)
前記ダイヤフラムは、前記器具インタフェースと前記フレームとの間の領域において回旋状である、項目15に記載の滅菌バリア。
(項目23)
ロボット外科手術マニピュレータから、取り外し可能滅菌バリアを介して外科手術器具に制御器動作を伝える方法であって、
該ロボット外科手術マニピュレータの少なくとも一部分をカバーする滅菌シートに実質的に剛性のフレームを接着する動作と、
ダイヤフラムによって該フレームに器具インタフェースを接続する動作と
を包含し、
該器具インタフェースは、該ロボット外科手術マニピュレータの駆動プレートと該外科手術器具のジンバルアセンブリの被駆動表面との間に位置を決められ、
該器具インタフェースは、該ドライブプレートが該ジンバルアセンブリのジンバル軸において旋回することを可能にするように形作られる、方法。
(項目24)
ロボット外科手術マニピュレータから、取り外し可能滅菌バリアを介して外科手術器具に制御器動作を伝える方法であって、
該ロボット外科手術マニピュレータの少なくとも一部分をカバーする滅菌シートに実質的に剛性のフレームを接着する動作と、
該フレームにおいて開口部内に回転カップリングを接続する動作と
を包含し、
該回転カップリングは、該マニピュレータ上の回転要素と該器具上の回転要素との間に位置を決められ、
該回転カップリングは、該回転要素のうちの1つを係合する尖った突出部を有する面を備えている、方法。
本発明の他の特徴および利点は、添付の図面および下記の詳細な説明から明らかである。
以下の説明において、多くの特定の詳細が述べられる。しかしながら、本発明の実施形態がこれらの特定の詳細がなくても実施され得ることが理解される。他の場合において、この説明を理解しにくくしないために、周知の回路、構造および技術は、詳細には示されていない。
Claims (24)
- ロボット外科手術マニピュレータをカバーする滅菌ドレープであって、滅菌ドレープは、
該ロボット外科手術マニピュレータの少なくとも一部分をカバーする滅菌シートと、
該滅菌シートに接着される実質的に剛性のフレームと、
該ロボット外科手術マニピュレータの駆動プレートをカバーする器具インタフェースであって、該駆動プレートは、取り付けられた外科手術器具のジンバルアセンブリの第1の表面を支える駆動表面を有し、該駆動プレートは、該ジンバルアセンブリの軸の交点と一致する動作の中心の周りに2つの回転自由度を有する、器具インタフェースと、
該器具インタフェースを該フレームに接続するダイヤフラムと
を備えている、滅菌ドレープ。 - 前記ダイヤフラムは、前記駆動プレートの動作の中心を越えて前記駆動表面から外側に延びる該駆動プレートの突き出た部分を受ける開口部をさらに含み、前記器具インタフェースは、該駆動プレートの該突き出た部分を受けるように形作られる、請求項1に記載の滅菌ドレープ。
- 前記ダイヤフラムは、前記器具インタフェース上の複数の整列特徴を受ける複数の開口部をさらに含む、請求項1に記載の滅菌ドレープ。
- 前記フレームは、前記滅菌シートが接着される取り付け構造をさらに含み、該取り付け構造は前記ダイヤフラムに実質的に垂直に延びる、請求項1に記載の滅菌ドレープ。
- 前記フレームは、前記外科手術器具に回転動作を連結するために、前記器具インタフェースに隣接して円形の開口部に配置されるカップリングをさらに含み、該カップリングは、前記ダイヤフラムを係合してシールを提供する周辺溝を含む、請求項1に記載の滅菌ドレープ。
- 前記カップリングは、前記外科手術器具を係合するために尖った突出部を有する面を含む、請求項5に記載の滅菌ドレープ。
- 前記ダイヤフラムは、前記器具インタフェースと前記フレームとの間の領域において回旋状である、請求項1に記載の滅菌ドレープ。
- 近位インタフェースと遠位エンドエフェクタとを有する滅菌外科手術器具であって、該近位インタフェースは2つの交差する回転軸を有するジンバルアセンブリを含み、該遠位エンドエフェクタは該近位インタフェースに対して2つの動作度を有し、該遠位エンドエフェクタは該ジンバルアセンブリに連結される、滅菌外科手術器具と、
駆動表面付きの駆動プレートを有するロボット外科手術マニピュレータであって、該駆動表面は取り付けられた外科手術器具の該ジンバルアセンブリの第1の表面を支え、該駆動プレートは該ジンバルアセンブリの軸の交点と一致する動作の中心の周りに2つの回転自由度を有する、ロボット外科手術マニピュレータと、
該ロボット外科手術マニピュレータの少なくとも一部分をカバーする滅菌ドレープであって、該滅菌ドレープは、
該ロボット外科手術マニピュレータの少なくとも一部分をカバーする滅菌シートと、
該滅菌シートに接着される実質的に剛性のフレームと、
該ロボット外科手術マニピュレータの該駆動プレートをカバーする器具インタフェースと、
該器具インタフェースを該フレームに接続するダイヤフラムと
を含む、滅菌ドレープと
を備えている、ロボット外科手術システム。 - 前記ダイヤフラムは、前記駆動プレートの動作の中心を越えて前記駆動表面から外側に延びる該駆動プレートの突き出た部分を受ける開口部をさらに含み、前記器具インタフェースは、該駆動プレートの該突き出た部分を受けるように形作られる、請求項8に記載のロボット外科手術システム。
- 前記ダイヤフラムは、前記器具インタフェース上の複数の整列特徴を受ける複数の開口部をさらに含む、請求項8に記載のロボット外科手術システム。
- 前記フレームは、前記滅菌シートが接着される取り付け構造をさらに含み、該取り付け構造は前記ダイヤフラムに実質的に垂直に延びる、請求項8に記載のロボット外科手術システム。
- 前記フレームは、前記外科手術器具に回転動作を連結するために、前記器具インタフェースに隣接して円形の開口部に配置されるカップリングをさらに含み、該カップリングは、前記ダイヤフラムを係合してシールを提供する周辺溝を含む、請求項8に記載のロボット外科手術システム。
- 前記カップリングは、前記外科手術器具を係合するための尖った突出部を有する面を含む、請求項12に記載のロボット外科手術システム。
- 前記ダイヤフラムは、前記器具インタフェースと前記フレームとの間の領域において回旋状である、請求項8に記載のロボット外科手術システム。
- ロボット外科手術マニピュレータと滅菌外科手術器具との間の滅菌バリアを含む滅菌ドレープであって、該滅菌バリアは、
該ロボット外科手術マニピュレータの駆動プレートを囲む実質的に剛性のフレームであって、該駆動プレートは、取り付けられた外科手術器具のジンバルアセンブリの第1の表面を支える駆動表面を有し、該駆動プレートは、該ジンバルアセンブリの軸の交点と一致する動作の中心の周りに2つの回転自由度を有する、実質的に剛性のフレームと、
該駆動プレートをカバーする器具インタフェースと、
該器具インタフェースを該フレームに接続するダイヤフラムと
を備えている、滅菌ドレープ。 - 前記ダイヤフラムは、前記駆動プレートの動作の中心を越えて前記駆動表面から外側に延びる該駆動プレートの突き出た部分を受ける開口部をさらに含み、前記器具インタフェースは、該駆動プレートの該突き出た部分を受けるように形作られる、請求項15に記載の滅菌ドレープ。
- 前記ダイヤフラムは、前記器具インタフェース上の複数の整列特徴を受ける複数の開口部をさらに含む、請求項15に記載の滅菌ドレープ。
- 前記フレームに接着される滅菌シートをさらに備え、該滅菌シートは、前記ロボット外科手術マニピュレータの少なくとも一部分をカバーする、請求項15に記載の滅菌ドレープ。
- 前記フレームは、前記滅菌シートが接着される取り付け構造をさらに含み、該取り付け構造は前記ダイヤラムに実質的に垂直に延びる、請求項18に記載の滅菌ドレープ。
- 前記フレームは、前記外科手術器具に回転動作を連結するために前記器具インタフェースに隣接して円形の開口部に配置されるカップリングをさらに含み、該カップリングは、前記ダイヤフラムを係合してシールを提供する周辺溝を含む、請求項15に記載の滅菌ドレープ。
- 前記カップリングは、前記外科手術器具を係合するために尖った突出部を有する面を含む、請求項20に記載の滅菌ドレープ。
- 前記ダイヤフラムは、前記器具インタフェースと前記フレームとの間の領域において回旋状である、請求項15に記載の滅菌ドレープ。
- ロボット外科手術マニピュレータをカバーする滅菌ドレープを組み立てる方法であって、
滅菌シートに実質的に剛性のフレームを接着する動作と、
ダイヤフラムによって該フレームに器具インタフェースを接続する動作と
を包含する、方法。 - 前記フレームにおいて開口部内に回転カップリングを接続する動作をさらに包含し、
該回転カップリングは、前記外科手術マニピュレータにより支持される外科手術器具の対応する回転入力を係合するように構成された面を備えている、請求項23に記載の滅菌ドレープを組み立てる方法。
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