JP5542288B2 - 手術器具のための受動的事前負荷およびキャプスタン駆動 - Google Patents
手術器具のための受動的事前負荷およびキャプスタン駆動 Download PDFInfo
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Description
ンとを含む手術器具を動作させるための方法である。本方法は、第1のテンドンが巻き付けられる第1のキャプスタンに第1のトルクを印加するステップと、同時に、第2のキャプスタンから延在する第2のテンドンの端部に取り付けられた受動的事前負荷システムが、第2のテンドンにおける張力を制御するように、第2のテンドンが巻き付けられる第2のキャプスタンをモータトルクから解放するステップとを含む。
本発明はまた、以下の項目を提供する。
(項目1)
手術器具であって、
シャフトと、
該シャフトの遠位端に装着された部材であって、該シャフトに対する該部材の動きを可能にするように装着される部材と、
該シャフトの近位端に取り付けられた機構であって、該機構は、第1のキャプスタンおよび第1の受動的事前負荷システムを含み、該第1のキャプスタンは、自由に転がり、モータが取り付けられ、該第1のキャプスタンを回転させる結合部を有する、機構と、
該シャフトに延出し、該第1のキャプスタンに巻き付く第1のテンドンであって、該部材に取り付けられた第1の端部、および該第1の受動的事前負荷システムに取り付けられた第2の端部を有する、第1のテンドンと
を備える、手術器具。
(項目2)
上記第1の受動的事前負荷システムは、上記テンドンに力を印加するために圧縮または拡張を介して機能するバネ要素を備える、項目1に記載の器具。
(項目3)
上記バネ要素は、線状バネ、コイルバネ、および板バネから成る群から選択される、項目2に記載の器具。
(項目4)
上記第1の受動的事前負荷システムは、一定力バネを備える、項目1に記載の器具。
(項目5)
上記第1の受動的事前負荷システムは、可変半径プーリーおよびバネ要素を備える、項目1に記載の器具。
(項目6)
上記第1の受動的事前負荷システムは、上記テンドンに力を印加するための圧縮または拡張を介して機能する弾性部材を備える、項目1に記載の器具。
(項目7)
上記弾性部材は、片持ちビームおよびゴムバンドから成る群から選択される、項目6に記載の器具。
(項目8)
上記部材に対する1つの動作自由度に機械的に拘束される第1の接合部材と、
上記機構における第2の受動的事前負荷システムと、
該機構における第2のキャプスタンであって、該第2のキャプスタンは、自由に転がり、第2のモータが取り付けられ、かつ該第2のキャプスタンを回転させることができる結合部を有する、該第2のキャプスタンと、
上記シャフトに延出し、かつ該第2のキャプスタンに巻き付く第2のテンドンであって、該第2のテンドンは、該部材に取り付けられた第1の端部、および該第2の受動的事前負荷システムに取り付けられた第2の端部を有し、該第1および第2のテンドンは、反対方向に動きを生成するように該部材に作用する、第2のテンドンと
をさらに備える、項目1に記載の器具。
(項目9)
上記部材は、該部材に対する2つの動作自由度に機械的に拘束され、上記器具は、
第2のキャプスタンと、
第2の受動的事前負荷システムと、
上記シャフトに延出し、かつ該第2のキャプスタンに巻き付く第2のテンドンであって、該部材に取り付けられた第1の端部、および該第2の受動的事前負荷システムに取り付けられた第2の端部を有する、第2のテンドンと、
第3のキャプスタンと、
第3の受動的事前負荷システムと、
該シャフトに延出し、かつ上記第3のキャプスタンに巻き付く第3のテンドンであって、該部材に取り付けられた第1の端部、および該第3の受動的事前負荷システムに取り付けられた第2の端部を有する、第3のテンドンと
をさらに備えており、
該第1および第2のテンドンは、該部材の第1の自由度において双方向の動きを生成するように該部材に作用し、該第1および第3のテンドンは、該部材の第2の自由度において双方向の動きを生成するように該部材に作用する、項目1に記載の器具。
(項目10)
上記シャフトは可撓性である、項目1に記載の器具。
(項目11)
上記機構に取り付けられ、かつ上記シャフトを通って延在するシースをさらに備え、上記第1のテンドンは、該シースの内部で該シャフトを横断する、項目1に記載の器具。
(項目12)
上記第1のキャプスタンの回転軸は、上記シャフトに垂直である、項目1に記載の器具。
(項目13)
上記第1のキャプスタンの回転軸は、上記シャフトに平行である、項目1に記載の器具。
(項目14)
上記第1のキャプスタンの上記結合部は、モータピニオンにおけるスロットに適合するような形状を有するバネ負荷型突起部を含む取り外し可能な連結機構を備える、項目1に記載の器具。
(項目15)
上記第1のキャプスタンの上記結合部は、上記ボアに挿入されたモータピニオンへの摩擦連結を提供するようなサイズを有するボアを備え、該第1のキャプスタンは、十分に可撓性であるので、該キャプスタンの周りの該第1のテンドンの締め付けは、該キャプスタンと該ピニオンとの間の摩擦を増加させる、項目1に記載の器具。
(項目16)
ロボット手術システムであって、
第1の駆動モータを含むドッキングポートと、
第1の器具と
を備えており、該第1の器具は、
シャフトと、
該シャフトの遠位端に装着された部材であって、該シャフトに対する該部材の動きを可能にするように装着される、部材と、
該シャフトの近位端に取り付けられた機構であって、該機構は、第1のキャプスタンおよび第1の受動的事前負荷システムを含み、該第1のキャプスタンは、該第1の駆動モータが取り付けられ、かつ該第1のキャプスタンを回転させることが可能である結合部を有する、機構と、
該シャフトに延出し、かつ該第1のキャプスタンに巻き付く第1のテンドンであって、該部材に取り付けられた第1の端部、および該第1の受動的事前負荷システムに取り付けられた第2の端部を有する、第1のテンドンと
を含む、ロボット手術システム。
(項目17)
上記ドッキングポートは、第2の駆動モータをさらに備え、
上記第1の器具は、
上記部材の第1の動作自由度を可能にする継手と、
上記機構における第2の受動的事前負荷システムと、
該機構における第2のキャプスタンであって、該第2の駆動モータが取り付けられ、かつ上記第1のキャプスタンを回転させることが可能である結合部を有する、第2のキャプスタンと、
上記シャフトに延出し、かつ該第2のキャプスタンに巻き付く第2のテンドンであって、該第2のテンドンは、該部材に取り付けられた第1の端部、および該第2の受動的事前負荷システムに取り付けられた第2の端部を有し、上記第1のテンドンおよび該第2のテンドンは、該部材の該第1の動作自由度において反対方向に該部材を移動させるように作用する、第2のテンドンと
をさらに備える、項目16に記載のシステム。
(項目18)
上記第1の器具を動作するためのプロセスを実装するプログラムを実行するコンピュータシステムをさらに備え、該プロセスは、上記第1のテンドンを引張るために、上記第1のキャプスタンにトルクを印加するために上記第1の駆動モータを動作するとともに、同時に、上記第2のキャプスタンが自由に回転することを可能にすることを含む、項目17に記載のシステム。
(項目19)
上記第1の器具は、上記部材の位置を測定するセンサをさらに備え、上記コンピュータシステムは、該部材を移動させるときに、上記第1および第2の駆動モータの制御のためのフィードバックとして、該センサからの情報を使用する、項目18に記載のシステム。
(項目20)
上記コンピュータシステムは、上記センサからの上記情報を使用して、上記第1の駆動モータが上記第1のキャプスタンに印加する上記トルクを選択する、項目19に記載のシステム。
(項目21)
接合部材と、該接合部材の動作自由度に沿う1つの方向に該接合部材を移動させるように取り付けられた第1のテンドンと、該接合部材の該動作自由度に沿う反対方向に上記接合部材を移動させるように取り付けられた第2のテンドンとを含む医療器具を動作するための方法であって、該方法は、
該第1のテンドンが巻き付けられる第1のキャプスタンに第1のトルクを印加することと、
同時に、上記第2のキャプスタンから延在する該第2のテンドンの端部に取り付けられた受動的事前負荷システムが、該第2のテンドンにおける張力を制御するために、該第2のテンドンが巻き付けられる該第2のキャプスタンを解放することと
を含む、方法。
(項目22)
上記第2のキャプスタンに第2のトルクを印加することと、
該第2のトルクを印加することと同時に、上記第1のキャプスタンから延在する上記第1のテンドンの端部に取り付けられた受動的事前負荷システムが、該第1のテンドンの張力を制御するように、該第1のキャプスタンを解放することと
をさらに含む、項目21に記載のプロセス。
(項目23)
上記第1のキャプスタンに上記第1のトルクを印加するステップは、上記第1のキャプスタンを回転させるように機械的に結合されるモータを動作させるステップを含む、項目21に記載のプロセス。
(項目24)
上記接合部材の位置を検知することと、
該接合部材の検知された位置と該接合部材の所望の位置との間の差異に従って、該第1のトルクを選択することと
をさらに含む、項目21に記載のプロセス。
Claims (18)
- 手術器具であって、
可撓性シャフトと、
該シャフトの遠位端に装着された部材であって、該シャフトに対する該部材の動きを可能にするように装着される部材と、
該シャフトの近位端に取り付けられた機構であって、該機構は、第1のキャプスタンおよび第1の受動的事前負荷システムを含み、該第1のキャプスタンは、自由に転がり、モータが取り付けられ、該第1のキャプスタンを回転させる結合部を有する、機構と、
該シャフトに延出し、該第1のキャプスタンに巻き付く第1のテンドンであって、該部材に取り付けられた第1の端部、および該第1の受動的事前負荷システムに取り付けられた第2の端部を有する、第1のテンドンと
を備え、
該第1の受動的事前負荷システムは、一定力バネを備えるか、または第1の受動的事前負荷システムは、可変半径プーリーおよびバネ要素を備える、手術器具。 - 前記第1の受動的事前負荷システムは、前記テンドンに力を印加するために圧縮または拡張を介して機能するバネ要素を備える、請求項1に記載の器具。
- 前記バネ要素は、線状バネ、コイルバネ、および板バネから成る群から選択される、請求項2に記載の器具。
- 前記部材に対する1つの動作自由度に機械的に拘束される第1の接合部材と、
前記機構における第2の受動的事前負荷システムと、
該機構における第2のキャプスタンであって、該第2のキャプスタンは、自由に転がり、第2のモータが取り付けられ、かつ該第2のキャプスタンを回転させることができる結合部を有する、該第2のキャプスタンと、
前記シャフトに延出し、かつ該第2のキャプスタンに巻き付く第2のテンドンであって、該第2のテンドンは、該部材に取り付けられた第1の端部、および該第2の受動的事前負荷システムに取り付けられた第2の端部を有し、該第1および第2のテンドンは、反対方向に動きを生成するように該部材に作用する、第2のテンドンと
をさらに備え、
該第2の受動的事前負荷システムは、一定力バネを備えるか、または第2の受動的事前負荷システムは、可変半径プーリーおよびバネ要素を備える、請求項1に記載の器具。 - 前記部材は、該部材に対する2つの動作自由度に機械的に拘束され、前記器具は、
第2のキャプスタンと、
第2の受動的事前負荷システムと、
前記シャフトに延出し、かつ該第2のキャプスタンに巻き付く第2のテンドンであって、該部材に取り付けられた第1の端部、および該第2の受動的事前負荷システムに取り付けられた第2の端部を有する、第2のテンドンと、
第3のキャプスタンと、
第3の受動的事前負荷システムと、
該シャフトに延出し、かつ前記第3のキャプスタンに巻き付く第3のテンドンであって、該部材に取り付けられた第1の端部、および該第3の受動的事前負荷システムに取り付けられた第2の端部を有する、第3のテンドンと
をさらに備えており、
該第1および第2のテンドンは、該部材の第1の自由度において双方向の動きを生成するように該部材に作用し、該第1および第3のテンドンは、該部材の第2の自由度において双方向の動きを生成するように該部材に作用し、
該第2の受動的事前負荷システムは、一定力バネを備えるか、または第2の受動的事前負荷システムは、可変半径プーリーおよびバネ要素を備え、
該第3の受動的事前負荷システムは、一定力バネを備えるか、または第3の受動的事前負荷システムは、可変半径プーリーおよびバネ要素を備える、請求項1に記載の器具。 - 前記機構に取り付けられ、かつ前記シャフトを通って延在するシースをさらに備え、前記第1のテンドンは、該シースの内部で該シャフトを横断する、請求項1に記載の器具。
- 前記第1のキャプスタンの回転軸は、前記シャフトに垂直である、請求項1に記載の器具。
- 前記第1のキャプスタンの回転軸は、前記シャフトに平行である、請求項1に記載の器具。
- 前記第1のキャプスタンの前記結合部は、モータピニオンにおけるスロットに適合するような形状を有するバネ負荷型突起部を含む取り外し可能な連結機構を備える、請求項1に記載の器具。
- 前記第1のキャプスタンの前記結合部は、前記ボアに挿入されたモータピニオンへの摩擦連結を提供するようなサイズを有するボアを備え、該第1のキャプスタンは、十分に可撓性であるので、該キャプスタンの周りの該第1のテンドンの締め付けは、該キャプスタンと該ピニオンとの間の摩擦を増加させる、請求項1に記載の器具。
- ロボット手術システムであって、
第1の駆動モータを含むドッキングポートと、
第1の器具と
を備えており、該第1の器具は、
可撓性シャフトと、
該シャフトの遠位端に装着された部材であって、該シャフトに対する該部材の動きを可能にするように装着される、部材と、
該シャフトの近位端に取り付けられた機構であって、該機構は、第1のキャプスタンおよび第1の受動的事前負荷システムを含み、該第1のキャプスタンは、該第1の駆動モータが取り付けられ、かつ該第1のキャプスタンを回転させることが可能である結合部を有する、機構と、
該シャフトに延出し、かつ該第1のキャプスタンに巻き付く第1のテンドンであって、該部材に取り付けられた第1の端部、および該第1の受動的事前負荷システムに取り付けられた第2の端部を有する、第1のテンドンと
を含み、
該第1の受動的事前負荷システムは、一定力バネを備えるか、または第1の受動的事前負荷システムは、可変半径プーリーおよびバネ要素を備える、ロボット手術システム。 - 前記ドッキングポートは、第2の駆動モータをさらに備え、
前記第1の器具は、
前記部材の第1の動作自由度を可能にする継手と、
前記機構における第2の受動的事前負荷システムと、
該機構における第2のキャプスタンであって、該第2の駆動モータが取り付けられ、かつ前記第1のキャプスタンを回転させることが可能である結合部を有する、第2のキャプ
スタンと、
前記シャフトに延出し、かつ該第2のキャプスタンに巻き付く第2のテンドンであって、該第2のテンドンは、該部材に取り付けられた第1の端部、および該第2の受動的事前負荷システムに取り付けられた第2の端部を有し、前記第1のテンドンおよび該第2のテンドンは、該部材の該第1の動作自由度において反対方向に該部材を移動させるように作用する、第2のテンドンと
をさらに備え、
該第2の受動的事前負荷システムは、一定力バネを備えるか、または第2の受動的事前負荷システムは、可変半径プーリーおよびバネ要素を備える、請求項11に記載のシステム。 - 前記第1の器具を動作するためのプロセスを実装するプログラムを実行するコンピュータシステムをさらに備え、該プロセスは、前記第1のテンドンを引張るために、前記第1のキャプスタンにトルクを印加するために前記第1の駆動モータを動作するとともに、同時に、前記第2のキャプスタンが自由に回転することを可能にすることを含む、請求項12に記載のシステム。
- 前記第1の器具は、前記部材の位置を測定するセンサをさらに備え、前記コンピュータシステムは、該部材を移動させるときに、前記第1および第2の駆動モータの制御のためのフィードバックとして、該センサからの情報を使用する、請求項13に記載のシステム。
- 前記コンピュータシステムは、前記センサからの前記情報を使用して、前記第1の駆動モータが前記第1のキャプスタンに印加する前記トルクを選択する、請求項14に記載のシステム。
- 接合部材と、該接合部材の動作自由度に沿う1つの方向に該接合部材を移動させるように取り付けられた第1のテンドンと、該接合部材の該動作自由度に沿う反対方向に前記接合部材を移動させるように取り付けられた第2のテンドンとを含む医療器具であって、
第1のモータが、第1のキャプスタンを回転させるように機械的に結合され、それによって該第1のテンドンが巻き付けられる該第1のキャプスタンに第1のトルクが印加され、
同時に、該医療器具は、第2のキャプスタンから延在する該第2のテンドンの端部に取り付けられた受動的事前負荷システムが、該第2のテンドンにおける張力を制御するために、該第2のテンドンが巻き付けられる該第2のキャプスタンを解放するように構成され、
該受動的事前負荷システムは、一定力バネを備えるか、または該受動的事前負荷システムは、可変半径プーリーおよびバネ要素を備える、医療器具。 - 前記第2のキャプスタンを回転させるように機械的に結合され、それによって該第2のキャプスタンに第2のトルクを印加する第2のモータをさらに含む、請求項16に記載の医療器具であって、該医療器具は、該第2のトルクを印加することと同時に、前記第1のキャプスタンから延在する前記第1のテンドンの端部に取り付けられた受動的事前負荷システムが、該第1のテンドンの張力を制御するように、該第1のキャプスタンを解放するように構成され、該受動的事前負荷システムは、一定力バネを備えるか、または該受動的事前負荷システムは、可変半径プーリーおよびバネ要素を備える、医療器具。
- 前記接合部材の位置を検知するし、該接合部材の検知された位置と該接合部材の所望の位置との間の差異に従って、該第1のトルクを選択するためのセンサをさらに含む、請求項16に記載の医療器具。
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US11147643B2 (en) | 2015-07-17 | 2021-10-19 | Olympus Corporation | Manipulator |
US11805976B2 (en) | 2020-01-09 | 2023-11-07 | Riverfield Inc. | Slider and surgical instrument |
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WO2010039387A1 (en) | 2010-04-08 |
CN104970884A (zh) | 2015-10-14 |
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