JP5782515B2 - ロボットの協働制御および音声フィードバックを用いて力覚センサ情報を提示する方法 - Google Patents
ロボットの協働制御および音声フィードバックを用いて力覚センサ情報を提示する方法 Download PDFInfo
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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
- A61B34/30—Surgical robots
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B3/00—Apparatus for testing the eyes; Instruments for examining the eyes
- A61B3/10—Objective types, i.e. instruments for examining the eyes independent of the patients' perceptions or reactions
- A61B3/102—Objective types, i.e. instruments for examining the eyes independent of the patients' perceptions or reactions for optical coherence tomography [OCT]
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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
- A61B34/30—Surgical robots
- A61B34/35—Surgical robots for telesurgery
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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
- 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
- A61B34/70—Manipulators specially adapted for use in surgery
- A61B34/76—Manipulators having means for providing feel, e.g. force or tactile feedback
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
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- A61B34/70—Manipulators specially adapted for use in surgery
- A61B34/77—Manipulators with motion or force scaling
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F9/00—Methods or devices for treatment of the eyes; Devices for putting-in contact lenses; Devices to correct squinting; Apparatus to guide the blind; Protective devices for the eyes, carried on the body or in the hand
- A61F9/007—Methods or devices for eye surgery
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61F—FILTERS IMPLANTABLE INTO BLOOD VESSELS; PROSTHESES; DEVICES PROVIDING PATENCY TO, OR PREVENTING COLLAPSING OF, TUBULAR STRUCTURES OF THE BODY, e.g. STENTS; ORTHOPAEDIC, NURSING OR CONTRACEPTIVE DEVICES; FOMENTATION; TREATMENT OR PROTECTION OF EYES OR EARS; BANDAGES, DRESSINGS OR ABSORBENT PADS; FIRST-AID KITS
- A61F9/00—Methods or devices for treatment of the eyes; Devices for putting-in contact lenses; Devices to correct squinting; Apparatus to guide the blind; Protective devices for the eyes, carried on the body or in the hand
- A61F9/007—Methods or devices for eye surgery
- A61F9/00727—Apparatus for retinal reattachment
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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
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
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- G—PHYSICS
- G16—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS
- G16H—HEALTHCARE INFORMATICS, i.e. INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR THE HANDLING OR PROCESSING OF MEDICAL OR HEALTHCARE DATA
- G16H20/00—ICT specially adapted for therapies or health-improving plans, e.g. for handling prescriptions, for steering therapy or for monitoring patient compliance
- G16H20/40—ICT specially adapted for therapies or health-improving plans, e.g. for handling prescriptions, for steering therapy or for monitoring patient compliance relating to mechanical, radiation or invasive therapies, e.g. surgery, laser therapy, dialysis or acupuncture
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- G—PHYSICS
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- G16H—HEALTHCARE INFORMATICS, i.e. INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR THE HANDLING OR PROCESSING OF MEDICAL OR HEALTHCARE DATA
- G16H40/00—ICT specially adapted for the management or administration of healthcare resources or facilities; ICT specially adapted for the management or operation of medical equipment or devices
- G16H40/60—ICT specially adapted for the management or administration of healthcare resources or facilities; ICT specially adapted for the management or operation of medical equipment or devices for the operation of medical equipment or devices
- G16H40/63—ICT specially adapted for the management or administration of healthcare resources or facilities; ICT specially adapted for the management or operation of medical equipment or devices for the operation of medical equipment or devices for local operation
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- A—HUMAN NECESSITIES
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- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/00017—Electrical control of surgical instruments
- A61B2017/00115—Electrical control of surgical instruments with audible or visual output
- A61B2017/00119—Electrical control of surgical instruments with audible or visual output alarm; indicating an abnormal situation
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- A—HUMAN NECESSITIES
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- A61B34/20—Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B2034/2046—Tracking techniques
- A61B2034/2061—Tracking techniques using shape-sensors, e.g. fiber shape sensors with Bragg gratings
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- 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
- A61B2090/065—Measuring instruments not otherwise provided for for measuring force, pressure or mechanical tension for measuring contact or contact pressure
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
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- A61B90/06—Measuring instruments not otherwise provided for
- A61B2090/064—Measuring instruments not otherwise provided for for measuring force, pressure or mechanical tension
- A61B2090/066—Measuring instruments not otherwise provided for for measuring force, pressure or mechanical tension for measuring torque
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- A61B5/74—Details of notification to user or communication with user or patient ; user input means
- A61B5/7455—Details of notification to user or communication with user or patient ; user input means characterised by tactile indication, e.g. vibration or electrical stimulation
Description
本出願は、2010年8月2日出願の米国仮出願第61/370,029号からの利点を主張するものであり、その開示は参照により本明細書に完全に援用される。
本発明は、アメリカ国立衛生研究所により与えられたグラント番号EB007969およびアメリカ国立科学財団により与えられたグラント番号EEC9731478の下での米国政府による援助を受けてなされたものであり、米国政府は本発明に対してある一定の権利を有する。
ロボットと外科医とによって把持されるように構成された外科手術器具を受け入れる器具ホルダと、
作業者が入力した力および/または器具先端の力に基づく力を検出するセンサと、
検出された力に基づいてロボット速度を制限して、触覚フィードバックを行うコントローラと、
検出した付加力に基づき、マルチレベルの音声フィードバックの中から1つのレベルを自動的に選択するセレクタであって、該音声フィードバックは付加力の相対的な強度を示す、セレクタと、
触覚フィードバックとともに音声フィードバックを行う音声装置と、
を備える。
ロボットと外科医とによって把持されるように構成された外科手術器具を受け入れる器具ホルダと、
外科手術器具と目的とする対象領域との間の距離を検出するセンサと、
検出された距離に基づき音声フィードバックの1つを自動的に選択するセレクタであって、該音声フィードバックは前記目的とする対象領域から前記外科手術器具までの距離についての距離センサ情報を示す、セレクタと、
音声フィードバックを行う音声装置と、
を備える。
ロボットと外科医とにより把持されるように構成された外科用器具を受け入れるステップと、
外科手術器具と組織との間の界面における力を検出するステップと、
外科手術器具と組織との間に検出された力に基づきロボット速度を制限して触覚フィードバックを行うステップと、
検出された力に基づいて音声フィードバックを自動的に選択するステップであって、該音声フィードバックは付加力の相対的な強度を示す、ステップと、
選択された音声フィードバックを触覚フィードバックとともに提供するステップと、
を備える。
Claims (17)
- ロボットと外科医とによって把持されるように構成された外科手術器具を受け入れる器具ホルダと、
作業者の入力した力および/または器具先端の力に基づく力を検出するセンサと、
検出された力に基づいてロボット速度を制限して、触覚フィードバックを行うコントローラと、
検出された付加力に基づき、マルチレベルの音声フィードバックの中から1つのレベルを自動的に選択するセレクタであって、該音声フィードバックは前記付加力の相対的な強度を示す、セレクタと、
前記触覚フィードバックとともに音声フィードバックを行う音声装置と、
を備える、外科手術器具の協働制御システム。 - 前記音声フィードバックは一連のビープ音である、請求項1に記載のシステム。
- 前記音声フィードバックは、前記付加力が所定の範囲にあるかどうかに基づき選択される、請求項1に記載のシステム。
- 前記外科手術器具は硝子体網膜手術において用いるものである、請求項1に記載のシステム。
- 前記音声フィードバックは、付加力が1mNよりも大きい所定の範囲となるまでは無音である、請求項3に記載のシステム。
- 前記音声フィードバックは、前記付加力が1mNから3.5mNまでの所定の範囲にあるときは一定のスローテンポのビープ音である、請求項3に記載のシステム。
- 前記音声フィードバックは、前記付加力が3.5mNから約7mNまでの所定の範囲にあるときは一定のハイテンポのビープ音である、請求項1に記載のシステム。
- 前記ハイテンポのビープ音は前記付加力に比例して大きくなる、請求項7に記載のシステム。
- 前記外科手術器具は手術用ロボットのエンドエフェクタである、請求項1に記載のシステム。
- 前記センサは、外科手術器具に内蔵されたファイバー・ブラッグ・グレーティング(FBG)センサであり、前記外科手術器具と組織との間の力を検出する、請求項1に記載のシステム。
- ロボットと外科医とにより把持されるように構成された外科用器具を受け入れるステップと、
前記外科手術器具と組織との間の界面における力および/または入力される力を検出するステップと、
前記外科手術器具と組織との間で検出された力に基づきロボット速度を制限して触覚フィードバックを行うステップと、
前記検出された力に基づいて音声フィードバックを自動的に選択するステップであって、該音声フィードバックは付加力の相対的な強度を示す、ステップと、
選択された音声フィードバックを触覚フィードバックとともに提供するステップと、を備える、外科手術器具の協働制御方法。 - 前記音声フィードバックは、前記付加力が所定の範囲にあるかどうかに基づき選択される、請求項11に記載の方法。
- 前記外科手術器具は硝子体網膜手術において用いるものである、請求項11に記載の方法。
- 前記外科手術器具は手術用ロボットのエンドエフェクタである、請求項11に記載の方法。
- 前記手術用ロボットは比例速度制御により制御される、請求項14に記載の方法。
- 前記ロボットは線形スケーリング制御により制御される、請求項14に記載の方法。
- 前記ロボットは制限付きの比例速度制御により制御される、請求項14に記載の方法。
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US37002910P | 2010-08-02 | 2010-08-02 | |
US61/370,029 | 2010-08-02 | ||
PCT/US2011/046276 WO2012018821A2 (en) | 2010-08-02 | 2011-08-02 | Method for presenting force sensor information using cooperative robot control and audio feedback |
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JP2015109541A Division JP2015180282A (ja) | 2010-08-02 | 2015-05-29 | ロボットの協働制御および音声フィードバックを用いて力覚センサ情報を提示する方法 |
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JP2013533063A JP2013533063A (ja) | 2013-08-22 |
JP5782515B2 true JP5782515B2 (ja) | 2015-09-24 |
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JP2015109541A Pending JP2015180282A (ja) | 2010-08-02 | 2015-05-29 | ロボットの協働制御および音声フィードバックを用いて力覚センサ情報を提示する方法 |
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US (1) | US20140052150A1 (ja) |
EP (1) | EP2600813B1 (ja) |
JP (2) | JP5782515B2 (ja) |
KR (1) | KR101840312B1 (ja) |
CN (1) | CN103068348B (ja) |
WO (1) | WO2012018821A2 (ja) |
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