JP5662256B2 - 枢動可能なコンピュータインタフェース - Google Patents
枢動可能なコンピュータインタフェース Download PDFInfo
- Publication number
- JP5662256B2 JP5662256B2 JP2011132621A JP2011132621A JP5662256B2 JP 5662256 B2 JP5662256 B2 JP 5662256B2 JP 2011132621 A JP2011132621 A JP 2011132621A JP 2011132621 A JP2011132621 A JP 2011132621A JP 5662256 B2 JP5662256 B2 JP 5662256B2
- Authority
- JP
- Japan
- Prior art keywords
- gripping part
- user
- actuator
- force
- surgical instrument
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
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Classifications
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
- G06F3/016—Input arrangements with force or tactile feedback as computer generated output to the user
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
-
- 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
-
- 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
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
- A61B34/74—Manipulators with manual electric input means
-
- 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
- A61B34/76—Manipulators having means for providing feel, e.g. force or tactile feedback
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06G—ANALOGUE COMPUTERS
- G06G7/00—Devices in which the computing operation is performed by varying electric or magnetic quantities
- G06G7/48—Analogue computers for specific processes, systems or devices, e.g. simulators
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- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B23/00—Models for scientific, medical, or mathematical purposes, e.g. full-sized devices for demonstration purposes
- G09B23/28—Models for scientific, medical, or mathematical purposes, e.g. full-sized devices for demonstration purposes for medicine
- G09B23/285—Models for scientific, medical, or mathematical purposes, e.g. full-sized devices for demonstration purposes for medicine for injections, endoscopy, bronchoscopy, sigmoidscopy, insertion of contraceptive devices or enemas
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/00017—Electrical control of surgical instruments
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/00367—Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/00367—Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like
- A61B2017/00398—Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like using powered actuators, e.g. stepper motors, solenoids
-
- 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
- A61B90/06—Measuring instruments not otherwise provided for
- A61B2090/064—Measuring instruments not otherwise provided for for measuring force, pressure or mechanical tension
Description
Claims (9)
- 外科用器具であって、
第1把持部位と、枢動点で前記第1把持部位に枢動可能に連結した第2把持部位と、を有するハンドルと、
延長される機械的連結部を介して前記ハンドルに接続され、前記ハンドルの操作で制御可能な末端部と、
前記第1把持部位又は前記第2把持部位のいずれか一方のグリップに固定され、前記第1把持部位又は前記第2把持部位と共に移動可能なアクチュエータであって、前記第1把持部位又は前記第2把持部位のいずれか一方に加えられる前記枢動点回りの力を含む触覚効果を、ユーザに付与するように構成されているアクチュエータと、
前記末端部に連結され、前記末端部の状態を検出する少なくとも一つのセンサと、
前記センサと前記アクチュエータとに電気的に連結され、前記触覚効果が、前記センサにより検知された前記末端部の状態に関連するフィードバックであるように、前記アクチュエータの動作状態を制御するコントローラと、
を備える外科用器具。 - 前記センサは、前記末端部に加えられた力又は圧力を検出するために、向かい合う鋏部に取り付けられた力センサ及び圧力センサの一つである、
請求項1に記載の外科用器具。 - 前記触覚効果は、運動感覚的フィードバック又は振動触感フィードバックの少なくとも一つを含む、
請求項1に記載の外科用器具。 - 前記末端部は、前記ハンドルの操作によって開放され、閉止され得る、向かい合う鋏部を含む、
請求項1に記載の外科用器具。 - 前記枢動点回りの力は、前記第1把持部位及び前記第2把持部位にユーザが加える力を軽減するために、前記第1把持部位及び前記第2把持部位を開放位置へ離れさせる、
請求項1に記載の外科用器具。 - 前記枢動点回りの力は、前記第1把持部位及び前記第2把持部位に力を加えているユーザを補助するために、前記第1把持部位及び前記第2把持部位を閉じられた位置へ互いに動かす、
請求項1に記載の外科用器具。 - 前記アクチュエータは、前記第1把持部位及び前記第2把持部位の双方に連結している請求項1に記載の外科用器具。
- 前記アクチュエータは、回転モータを備える請求項1に記載の外科用器具。
- 前記アクチュエータは、ブレーキ機構を備える請求項1に記載の外科用器具。
Applications Claiming Priority (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US30595801P | 2001-07-16 | 2001-07-16 | |
US60/305,958 | 2001-07-16 | ||
US10/196,717 | 2002-07-15 | ||
US10/196,717 US7877243B2 (en) | 2001-07-16 | 2002-07-15 | Pivotable computer interface |
Related Parent Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2003514482A Division JP4799818B2 (ja) | 2001-07-16 | 2002-07-16 | 枢動可能なコンピュータインタフェース |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2011181111A JP2011181111A (ja) | 2011-09-15 |
JP5662256B2 true JP5662256B2 (ja) | 2015-01-28 |
Family
ID=26892157
Family Applications (2)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2003514482A Expired - Fee Related JP4799818B2 (ja) | 2001-07-16 | 2002-07-16 | 枢動可能なコンピュータインタフェース |
JP2011132621A Expired - Fee Related JP5662256B2 (ja) | 2001-07-16 | 2011-06-14 | 枢動可能なコンピュータインタフェース |
Family Applications Before (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2003514482A Expired - Fee Related JP4799818B2 (ja) | 2001-07-16 | 2002-07-16 | 枢動可能なコンピュータインタフェース |
Country Status (6)
Country | Link |
---|---|
US (2) | US7877243B2 (ja) |
EP (2) | EP1407417B1 (ja) |
JP (2) | JP4799818B2 (ja) |
KR (3) | KR101100983B1 (ja) |
CN (1) | CN100342384C (ja) |
WO (1) | WO2003009212A1 (ja) |
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-
2002
- 2002-07-15 US US10/196,717 patent/US7877243B2/en not_active Expired - Fee Related
- 2002-07-16 WO PCT/US2002/022612 patent/WO2003009212A1/en active Application Filing
- 2002-07-16 EP EP02748179.5A patent/EP1407417B1/en not_active Expired - Lifetime
- 2002-07-16 JP JP2003514482A patent/JP4799818B2/ja not_active Expired - Fee Related
- 2002-07-16 CN CNB02814354XA patent/CN100342384C/zh not_active Expired - Fee Related
- 2002-07-16 KR KR1020097008447A patent/KR101100983B1/ko active IP Right Grant
- 2002-07-16 KR KR10-2004-7000604A patent/KR20040022452A/ko active Search and Examination
- 2002-07-16 EP EP11193424A patent/EP2457534A1/en not_active Withdrawn
- 2002-07-16 KR KR1020117012974A patent/KR101173824B1/ko active IP Right Grant
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JP4799818B2 (ja) | 2011-10-26 |
WO2003009212A1 (en) | 2003-01-30 |
JP2011181111A (ja) | 2011-09-15 |
US7877243B2 (en) | 2011-01-25 |
EP1407417A1 (en) | 2004-04-14 |
US20110118779A1 (en) | 2011-05-19 |
KR20110071030A (ko) | 2011-06-27 |
KR101173824B1 (ko) | 2012-08-16 |
CN1531704A (zh) | 2004-09-22 |
CN100342384C (zh) | 2007-10-10 |
EP2457534A1 (en) | 2012-05-30 |
EP1407417B1 (en) | 2016-12-21 |
JP2004536409A (ja) | 2004-12-02 |
KR101100983B1 (ko) | 2011-12-29 |
EP1407417A4 (en) | 2009-05-20 |
US20030025723A1 (en) | 2003-02-06 |
KR20090049098A (ko) | 2009-05-15 |
KR20040022452A (ko) | 2004-03-12 |
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