JP5591696B2 - 生検要素、アーム装置、および医療装置 - Google Patents
生検要素、アーム装置、および医療装置 Download PDFInfo
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- A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
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- 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
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- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
- A61B34/72—Micromanipulators
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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
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- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
- A61B2017/00238—Type of minimally invasive operation
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- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/00535—Surgical instruments, devices or methods, e.g. tourniquets pneumatically or hydraulically operated
- A61B2017/00539—Surgical instruments, devices or methods, e.g. tourniquets pneumatically or hydraulically operated hydraulically
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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
- A61B2017/00535—Surgical instruments, devices or methods, e.g. tourniquets pneumatically or hydraulically operated
- A61B2017/00544—Surgical instruments, devices or methods, e.g. tourniquets pneumatically or hydraulically operated pneumatically
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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
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- 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
Description
える医療装置に関する。第1ウィンチ要素は、第1ドラムと、第1ドラムに操作可能に連結される第1テザーとを含む。一実施形態において、作動要素は、第1ドラムに操作可能に連結されている。追加の実施形態において、医療装置は、テザーの先端に操作可能に連結されるエンドエフェクタを更に備える。更に他の実施形態において、医療装置は、第2ドラムと、第2ドラムに操作可能に連結される第2テザーとを含む第2ウィンチ要素を更に備える。他の実施形態によると、医療装置は、第3ドラムと、第3ドラムに操作可能に連結される第3テザーとを含む第3ウィンチ要素を更に備える。
Applications」;米国特許出願第11/695,944号明細書、2007年4月3日出願、「Robot for Surgical Applications」;米国特許出願第11/947,097号明細書、2007年11月27日出願、「Robotic Devices with Agent Delivery Components and Related Methods」;米国特許出願第11/932,516号明細書、2007年10月31日出願、「Robot for Surgical Applications」;米国特許出願第11/766,683号明細書、2007年6月21日出願、「Magnetically Coupleable Robotic Devices and Related Methods」;米国特許出願第11/766,720号明細書、2007年6月21日出願、「Magnetically Coupleable Surgical Robotic Devices and Related Methods」;米国特許出願第11/966,741号明細書、2007年12月28日出願、「Methods,Systems,and Devices for Surgical Visualization and Device Manipulation」;米国特許出願第60/949,391号明細書、2007年7月12日出願;米国特許出願第60/949,390号明細書、2007年7月12日出願;米国特許出願第60/990,062号明細書、2007年11月26日出願;米国特許出願第60/990,076号明細書、2007年11月26日出願;米国特許出願第60/990,086号明細書、2007年11月26日出願;米国特許出願第60/990,106号明細書、2007年11月26日出願;米国特許出願第60/990,470号明細書、2007年11月27日出願;米国特許出願第61/025,346号明細書、2008年2月1日出願;米国特許出願第61/030,588号明細書、2008年2月22日出願;米国特許出願第61/030,617号明細書、2008年2月22日出願に開示される医療装置への組込または使用が可能である。これらの特許文献はすべて、引用によって本明細書に援用される。
の方法で動作する。一例において、このシステムで使用されるポンプ26は、たとえば市販の外科洗浄ポンプであり、蓄圧器28およびタンク24は、オハイオ州クリーヴランドのパーカーハニフィン(Parker Hannifin)社から市販で入手可能である。あるいは外部油圧装置22は、ピストン16に油圧によって動力供給可能な油圧装置の既知の構成であってもよい。
他の実施形態において、ロボット装置は、バルブシステムまたはマスタバルブシステム58を有する。バルブシステムまたはマスタバルブシステム58は、作動油の流れを制御し、適宜流体をピストンアセンブリ(たとえば図2Aと図3に示すアセンブリ)に向ける。
タに比べて増強した力および/またはスピードを提供できる。
モジュラチューブ要素260(たとえば図10と図11に示すチューブ240に使用されるモジュラチューブ要素)の一例を、図9Aと図9Bに示す。図9Aは雄端262(または「突起部」)を示し、図9Bは雌端264を示す。図9Aに示すように、雄端262は凸状突起である。あるいは雄端262は、雌端264に一致するどのような突起形状であってもよい。図9Bに示すように、雌端264は凹面の構成である。あるいは雌端264は、雄端262に一致するどのような形状または構成であってもよい。
油圧式または空気圧式のチューブ、または目的とする体腔への挿入、または目的とする体腔に配置されるロボット装置への接続を必要とする他の伸張部材を収容するように構成されている。
Coupleable Surgical Robotic Devices and
Related Methods」;および米国特許出願第11/766,683号明細書、2007年6月21日出願、「Magnetically Coupleable
Robotic Devices and Related Methods」に開示されるように、任意の数の磁石を備えてもよいことを理解されたい。
リーブ358に対して回転する。他の実施形態において、磁気ハンドル360に沿った有効磁場を移動させるために、磁気ハンドル360の一連の電磁石を作動させることができる。
ア420のギア歯418に一致または連結する。一実施形態において、アクチュエータは永久磁石直流(「PMDC」)モータであり、遠位ギア412はアクチュエータによって駆動される。
遠位ギア452は遠位ギア歯456を有し、内表面(図示なし)にはネジ山が形成されている。遠位ギア歯456は、アクチュエータ(図示なし)に連結した駆動ギア460の
ギア歯458に一致または連結される。上記の実施形態と同様に、遠位ギア452の内表面のネジ山は、装置アーム450の外表面のネジ山453に一致または連結する。すなわち遠位ギア452がアクチュエータによって駆動されると遠位ギア452が回転し、遠位ギア452の内表面のネジ山と装置アーム450のネジ山453とが連結するため、装置アーム450は遠位ギア452の回転方向に依存して伸長または格納される。
本明細書に開示の治療装置で使用可能なエンドエフェクタまたは操作要素として、ウィンチシステムがある。一般に、本明細書に記載の装置またはシステムは、患者の体内(たとえば体腔)に挿入または配置されるように構成される。あるいは本明細書に開示のウィンチシステムおよび装置は、医療装置または治療装置で使用可能である。
Robotic Devices and Related Methods」に記載の方法と同様に構成および/または操作が可能である。一実施形態において、体内磁石520は以下のように構成されることを理解されたい。すなわちウィンチ要素524を固定すべく関心のある体腔または目的とするエリアの映像をキャプチャするようにイメージング要素516は配置されることが保証され;並びに、ウィンチ要素524が所望どおりに
、および本明細書に記載どおりに操作可能となるように、医療装置510を安定した固定位置に保持するだけの強い磁気結合を与えるように構成される。
と開孔要素602の間の組織の切開または切断を行える。カラー604が開孔要素602の先端から離れるように付勢されると、上顎要素630の先端は開孔要素602から離れ、自由な位置に移動する。あるいはカラーと同様に、上顎要素630を付勢して開孔要素602に接触させるように動作する既知の要素は、本明細書に組込可能であることを理解されたい。
代替実装例において、開孔要素602は、取得した1つ以上のサンプルを収納する内部タンク(図示なし)を有する。単一のサンプル分のスペースを含む最も標準的な腹腔鏡生検器具とは異なり、このタンクは、生検処理時に複数のサンプルを収納するだけの大きさまたは長さ(または容積)を通常備えていてもよい。
図25Aは、本明細書に開示のロボット装置で使用可能な生検要素640の代替実施形態を示す。生検要素640は、図24A、図24B、および図24Cに示す実施形態の作動要素と類似の作動要素(たとえばモータ644によって矢印Bで示す方向において送りネジ648の軸に沿って駆動されるナット646)を有する。ナット646は、リンケージ650によってスライダ656に取付けられる。リンケージ650は、ピン652においてナット646に連結され、ピン650においてスライダ656に連結される。
on)のK and J Magnetics社製のネオジム磁石であり、コイル712はフロリダ州ノースフォートマイヤー(North Fort Myers)のPrecision Econowind社製であり、レンズ710はカリフォルニア州カールズバッドのSunex社製である。本実施形態において、磁石は0.98kg(2.17ポンド)の引張力と、2505ガウスの表面場を有している。一方、コイルはDSL758レンズを備える巻数120の36AWGの被覆銅線からなる。あるいは上記の要素は市販の要素であってもよい。
本実施例において、互いに異なる生検グラスパの断面および長さを検査した。たとえば生検機構の作動に必要な力、更に生検機構によって実際に印加され得る最大の力に対するこれらの断面および長さの効力を検査した。
度、長さが4mmであった。エラーバーは、約1.8秒の間隔で測定した力の標準偏差を示す。静止摩擦を抑えるため、およびグラスパの上顎部を曲げるため、カラーの動作開始時に必要な最大の作動力は2.83Nである。カラーと上顎部の間の接触点が固定点から離れるにしたがって、力は時間とともに減少する。テスト結果は、生検グラスパを閉じるのに必要とされる力が、最大約3Nであることを示す。
Claims (15)
- 固定顎要素と、前記固定顎要素に隣接する可動顎要素と、第1スライディング位置と第2スライディング位置の間で移動するスライディング要素とを備える生検要素が取り付けられるアーム装置であって、
前記可動顎要素の先端は、前記固定顎要素に接しない位置に予め配置され、
前記第2スライディング位置の前記スライディング要素は、前記固定顎要素に向かって前記可動顎要素の先端を付勢するように、前記可動顎要素に接し、
前記アーム装置は、患者の体腔に配置されるように構成されたロボット装置用のアーム装置であって、前記アーム装置は、
(a)第1連結要素を含む外部部分を有する、可変長の回転式のアーム部であって、前記アーム部は、前記アーム部に形成される第1開口部を有することと;
(b)前記第1連結要素に連結される第2連結要素を含む第1筒内を有する第1被駆動要素であって、前記第2連結要素は前記第1筒内の内面に位置し、前記アーム部は前記第1筒内に配置されることと;
(c)前記第1被駆動要素に連結される第1駆動要素と;
(d)自身としての第2被駆動要素内に形成される第2筒内と第2開口部とを有する第2被駆動要素であって、前記アーム部は前記第2筒内に配置され、前記第2開口部は前記アーム部の軸線に対して垂直に延びることと;
(e)前記第1開口部と前記第2開口部に配置されたピンであって、前記ピンは前記アーム部の前記軸線に対して垂直に延びることと;
(f)前記第2被駆動要素に連結される第2駆動要素と
を備えるアーム装置。 - 前記第1連結要素と前記第2連結要素は、それぞれネジ山を含む、
請求項1記載のアーム装置。 - 前記第1駆動要素と前記第2駆動要素、および前記第1被駆動要素と前記第2被駆動要素は、それぞれギアを含む、
請求項1記載のアーム装置。 - 前記第1駆動要素と前記第2駆動要素、および前記第1被駆動要素と前記第2被駆動要素は、それぞれ滑車システムを含む、
請求項1記載のアーム装置。 - 前記第1駆動要素と前記第2駆動要素、および前記第1被駆動要素と前記第2被駆動要素は、それぞれ摩擦駆動システムを含む、
請求項1記載のアーム装置。 - 前記第1駆動要素の作動は、前記アーム部を伸長または格納させる、
請求項1記載のアーム装置。 - 前記第2駆動要素の作動は、前記アーム部を回転させる、
請求項1記載のアーム装置。 - 前記生検要素は、前記アーム部の先端に作動連結されるエンドエフェクタである、
請求項1記載のアーム装置。 - 前記ロボット装置は生体内医療装置であり、
前記生体内医療装置は、それぞれ前記アーム部としての前記第1ロボットアームと第2ロボットアームとを有する、
請求項8記載のアーム装置。 - 固定顎要素と、前記固定顎要素に隣接する可動顎要素と、第1スライディング位置と第2スライディング位置の間で移動するスライディング要素とを備える生検要素が取り付けられるアーム装置であって、
前記可動顎要素の先端は、前記固定顎要素に接しない位置に予め配置され、
前記第2スライディング位置の前記スライディング要素は、前記固定顎要素に向かって前記可動顎要素の先端を付勢するように、前記可動顎要素に接し、
体腔内ロボット装置用の前記アーム装置は、
(a)可変長で回転式かつ円筒状のアーム部であって、前記アーム部は、前記アーム部の外面に形成される外部ネジ山と、前記アーム部に形成されるスロットとを有することと;
(b)前記アーム部の周囲を取り囲むように位置する第1被駆動ギアであって、前記第1被駆動ギアは、第1外部被駆動ギア歯と、前記第1被駆動ギアの内部に形成される第1筒内と、前記第1被駆動ギアから延びる第1ブッシングとを備え、前記第1筒内は、前記第1筒内の内面に形成される内部ネジ山を有し、前記内部ネジ山は前記アーム部の前記外部ネジ山に噛合することと;
(c)前記第1被駆動ギアの前記外部被駆動ギア歯に作動連結される第1駆動ギアと;
(d)前記アーム部の周囲を取り囲むように位置する第2被駆動ギアであって、前記第2被駆動ギアは第2外部被駆動ギア歯を有することと;
(e)前記第2被駆動ギアの前記第2外部被駆動ギア歯に作動連結される第2駆動ギアと
を備え、
前記第2被駆動ギアはさらに、
前記第2被駆動ギア内に形成された開口部であって、前記開口部は前記アーム部の軸線に対して垂直に延びることと;
前記第2被駆動ギアの内部に形成される第2筒内であって、前記第2筒内は前記第2筒内の内面に形成される内部ネジ山を有し、前記内部ネジ山は前記アーム部の前記外部ネジ山に噛合することと;
前記アーム部の前記スロットに位置するピンであって、前記ピンは前記第2被駆動ギアの前記開口部に位置し、前記ピンは前記アーム部の前記軸線に対して垂直に延びることと;
前記第2被駆動ギアから延びる第2ブッシングであって、前記第2ブッシングは前記第1ブッシングに接触することと
を備える、アーム装置。 - 前記第1駆動ギアの作動は、前記アーム部を伸長または格納させる、
請求項10記載のアーム装置。 - 前記第2駆動ギアの作動は、前記アーム部を回転させる、
請求項10記載のアーム装置。 - 前記生検要素は、前記アーム部の先端に作動連結されるエンドエフェクタである、
請求項10記載のアーム装置。 - 前記アーム部は、前記アーム部の基端で前記体腔内ロボット装置に作動連結される、
請求項10記載のアーム装置。 - 前記体腔内ロボット装置は、それぞれ前記アーム部としての前記第1ロボットアームと第2ロボットアームとを有する、
請求項14記載のアーム装置。
Applications Claiming Priority (9)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US94939007P | 2007-07-12 | 2007-07-12 | |
US94939107P | 2007-07-12 | 2007-07-12 | |
US60/949,391 | 2007-07-12 | ||
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US20140350574A1 (en) | 2014-11-27 |
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US8343171B2 (en) | 2013-01-01 |
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WO2009014917A3 (en) | 2009-12-30 |
US20200330170A1 (en) | 2020-10-22 |
EP3673855B1 (en) | 2021-09-08 |
US10695137B2 (en) | 2020-06-30 |
JP2010533045A (ja) | 2010-10-21 |
WO2009014917A9 (en) | 2009-03-19 |
EP3078344B1 (en) | 2020-02-26 |
JP2015024142A (ja) | 2015-02-05 |
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