JP5530991B2 - 把持ツールの遠隔操作のための手動式装置 - Google Patents
把持ツールの遠隔操作のための手動式装置 Download PDFInfo
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- JP5530991B2 JP5530991B2 JP2011195902A JP2011195902A JP5530991B2 JP 5530991 B2 JP5530991 B2 JP 5530991B2 JP 2011195902 A JP2011195902 A JP 2011195902A JP 2011195902 A JP2011195902 A JP 2011195902A JP 5530991 B2 JP5530991 B2 JP 5530991B2
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- 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
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/005—Flexible endoscopes
- A61B1/0051—Flexible endoscopes with controlled bending of insertion part
- A61B1/0052—Constructional details of control elements, e.g. handles
- A61B1/0053—Constructional details of control elements, e.g. handles using distributed actuators, e.g. artificial muscles
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/005—Flexible endoscopes
- A61B1/0051—Flexible endoscopes with controlled bending of insertion part
- A61B1/0055—Constructional details of insertion parts, e.g. vertebral elements
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/068—Surgical staplers, e.g. containing multiple staples or clamps
- A61B17/072—Surgical staplers, e.g. containing multiple staples or clamps for applying a row of staples in a single action, e.g. the staples being applied simultaneously
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/068—Surgical staplers, e.g. containing multiple staples or clamps
- A61B17/072—Surgical staplers, e.g. containing multiple staples or clamps for applying a row of staples in a single action, e.g. the staples being applied simultaneously
- A61B17/07207—Surgical staplers, e.g. containing multiple staples or clamps for applying a row of staples in a single action, e.g. the staples being applied simultaneously the staples being applied sequentially
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
- A61B18/04—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating
- A61B18/12—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating by passing a current through the tissue to be heated, e.g. high-frequency current
- A61B18/14—Probes or electrodes therefor
- A61B18/1492—Probes or electrodes therefor having a flexible, catheter-like structure, e.g. for heart ablation
-
- 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
- A61B34/71—Manipulators operated by drive cable mechanisms
-
- 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
- A61B34/77—Manipulators with motion or force scaling
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/02—Hand grip control means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
- B25J18/06—Arms flexible
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/06—Programme-controlled manipulators characterised by multi-articulated arms
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
- A61B2017/00292—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery mounted on or guided by flexible, e.g. catheter-like, means
- A61B2017/003—Steerable
- A61B2017/00318—Steering mechanisms
- A61B2017/00323—Cables or rods
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/0042—Surgical instruments, devices or methods, e.g. tourniquets with special provisions for gripping
- A61B2017/00424—Surgical instruments, devices or methods, e.g. tourniquets with special provisions for gripping ergonomic, e.g. fitting in fist
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/0042—Surgical instruments, devices or methods, e.g. tourniquets with special provisions for gripping
- A61B2017/00438—Surgical instruments, devices or methods, e.g. tourniquets with special provisions for gripping connectable to a finger
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/28—Surgical forceps
- A61B17/29—Forceps for use in minimally invasive surgery
- A61B2017/2901—Details of shaft
- A61B2017/2905—Details of shaft flexible
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/28—Surgical forceps
- A61B17/29—Forceps for use in minimally invasive surgery
- A61B2017/2926—Details of heads or jaws
- A61B2017/2927—Details of heads or jaws the angular position of the head being adjustable with respect to the shaft
-
- 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
- A61B34/30—Surgical robots
- A61B2034/305—Details of wrist mechanisms at distal ends of robotic arms
- A61B2034/306—Wrists with multiple vertebrae
-
- 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
- A61B90/03—Automatic limiting or abutting means, e.g. for safety
- A61B2090/038—Automatic limiting or abutting means, e.g. for safety during shipment
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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
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10S901/00—Robots
- Y10S901/19—Drive system for arm
- Y10S901/21—Flaccid drive element
-
- 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
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T74/00—Machine element or mechanism
- Y10T74/20—Control lever and linkage systems
- Y10T74/20207—Multiple controlling elements for single controlled element
- Y10T74/20305—Robotic arm
- Y10T74/20323—Robotic arm including flaccid drive element
-
- 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
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T74/00—Machine element or mechanism
- Y10T74/20—Control lever and linkage systems
- Y10T74/20396—Hand operated
- Y10T74/20402—Flexible transmitter [e.g., Bowden cable]
Description
102 リンク
104 ケーブル
106 近位端
108 遠位端
112 スペーサ要素
200 リンク
202 ステム部分
206 遠位端
208 凹部
210 表面
1700 手動式装置
1711 近位端
1712 指部分
1713 使用者インターフェース
1714 人差し指部分
1715 中指部分
1716 親指部分
1717 ハンドル部分
1721 遠位端
A1 リンク
A2 リンク
B1 リンク
B2 リンク
C1 リンク
C2 リンク
D1 リンク
D2 リンク
Claims (5)
- 外科器具であって、
近位端及び遠位端と、
前記近位端の近傍に位置決めされているユーザーインターフェースに結合されている第1のリンク部材と、
前記遠位端の近傍に位置決めされているクランプに結合されている第2のリンク部材と、
前記第1のリンク部材と前記第2のリンク部材との間において延在している細長く高剛性な軸と、
前記軸を貫通して延在している少なくとも1組のケーブルセットであって、前記第1のリンク部材の運動が前記第2のリンク部材の対応する運動を発生させるように前記第1のリンク部材及び前記第2のリンク部材に接続している前記少なくとも1組のケーブルセットと、
前記外科器具を関節構造で選択的にロックするように構成されている関節式ロック機構と、
を備えている前記外科器具において、
前記ユーザーインターフェースが、前記第1のリンク部材に接続されている第1の部品と前記第1の部品に回動可能に接続されている第2の部品とを有しているハンドルを備えており、前記ユーザーインターフェースが、前記第2の部品を前記第1の部品に対して相対的に回動させることによって前記クランプを動作させるように構成されており、
前記第1のリンク部材及び前記第2のリンク部材それぞれが、隣り合う螺旋分節の間に配置された可撓性を有しているリンク機構を持つ、複数の可撓性を有している前記螺旋分節を有する、連続的な可撓性を有している螺旋部材を備え、前記螺旋分節が、前記ケーブルが移動可能に貫通する前記螺旋分節の軸に平行に延びる複数の貫通孔を備えており、
前記外科器具が、前記ハンドルの前記軸に対する相対的な運動が前記少なくとも1組のケーブルを通じて前記クランプの前記軸に対する比例的に拡大縮小された相対的な運動を発生するように構成されていることを特徴とする外科器具。 - 前記第1のリンク部材が、第1の組のリンクを備えており、
前記第2のリンク部材が、第2の組のリンクを備えており、
前記第1の組のリンクのリンクそれぞれが、互いに異なる組のケーブルによって前記第2の組のリンクの対応するリンクに接続されていることを特徴とする請求項1に記載の外科器具。 - 前記第1のリンク部材の運動が、前記第2のリンク部材の逆転された運動を発生させることを特徴とする請求項1に記載の外科器具。
- 前記第1のリンク部材の運動が、前記第1のリンク部材の運動と同一方向における前記第2のリンク部材の運動を発生させることを特徴とする請求項1に記載の外科器具。
- 前記関節式ロック機構が、ボールソケット形継手を備えており、
ボールとソケットとの間に摩擦が作用し、これにより前記外科器具を関節構造でロックすることを特徴とする請求項1に記載の外科器具。
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US10/997,249 US7410483B2 (en) | 2003-05-23 | 2004-11-24 | Hand-actuated device for remote manipulation of a grasping tool |
US10/997,249 | 2004-11-24 |
Related Parent Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2007543032A Division JP5188811B2 (ja) | 2004-11-24 | 2005-09-19 | 把持ツールの遠隔操作のための手動式装置 |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2012005868A JP2012005868A (ja) | 2012-01-12 |
JP5530991B2 true JP5530991B2 (ja) | 2014-06-25 |
Family
ID=35539556
Family Applications (3)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2007543032A Active JP5188811B2 (ja) | 2004-11-24 | 2005-09-19 | 把持ツールの遠隔操作のための手動式装置 |
JP2011195903A Active JP5409731B2 (ja) | 2004-11-24 | 2011-09-08 | 把持ツールの遠隔操作のための手動式装置 |
JP2011195902A Active JP5530991B2 (ja) | 2004-11-24 | 2011-09-08 | 把持ツールの遠隔操作のための手動式装置 |
Family Applications Before (2)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2007543032A Active JP5188811B2 (ja) | 2004-11-24 | 2005-09-19 | 把持ツールの遠隔操作のための手動式装置 |
JP2011195903A Active JP5409731B2 (ja) | 2004-11-24 | 2011-09-08 | 把持ツールの遠隔操作のための手動式装置 |
Country Status (7)
Country | Link |
---|---|
US (10) | US7410483B2 (ja) |
EP (3) | EP3391804A3 (ja) |
JP (3) | JP5188811B2 (ja) |
CN (1) | CN100588375C (ja) |
AU (1) | AU2005309974B2 (ja) |
CA (2) | CA2850651C (ja) |
WO (1) | WO2006057702A2 (ja) |
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