JP5840686B2 - 繊細な組織の外科的処置を行うための微小力ガイド下協働制御 - Google Patents
繊細な組織の外科的処置を行うための微小力ガイド下協働制御 Download PDFInfo
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- A61B34/70—Manipulators specially adapted for use in surgery
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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
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- A61B34/30—Surgical robots
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
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- G05B19/42—Recording and playback systems, i.e. in which the programme is recorded from a cycle of operations, e.g. the cycle of operations being manually controlled, after which this record is played back on the same machine
- G05B19/423—Teaching successive positions by walk-through, i.e. the tool head or end effector being grasped and guided directly, with or without servo-assistance, to follow a path
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Description
本出願は、2010年8月2日出願の米国仮出願第61/370,032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。
本発明は、外科手術器具の協働制御方法およびシステムに関するものである。特に、本発明は、繊細な組織の外科的処置を行うための微小力ガイド下協働制御方法およびシステムに関する。
ロボットと外科医とにより把持するように構成した、手術中に操作する器具を準備するステップと、
外科手術器具の先端と対象領域の組織との間の相互作用力を測定するステップと、
外科医と前記外科手術器具のハンドルとの間の相互作用力を測定するステップと、
外科手術器具を、最小抵抗の経路に向けて付勢することによりアクティブに誘導するステップと、
ハンドルから入力された力と先端の力との関数として外科手術器具の指向性の器具力を制限するステップと、を含む。
ロボットと外科医とによって把持するように構成した外科手術器具を受け入れる器具ホルダと、
外科手術器具の先端と対象領域の組織との間の相互作用力を測定する第一のセンサと、
外科医と前記外科手術器具のハンドルとの間の相互作用力を測定する第二のセンサと、
外科手術器具を最小抵抗経路に向けて付勢することにより、アルゴリズムを実施して前記外科手術器具をアクティブに誘導するとともに、ハンドルから入力された力と先端の力との関数として外科手術器具の指向性の器具力を制限するデータプロセッサと、を備える。
を考慮して、発明者らは、限界点を次のように定める。
Claims (9)
- 外科手術器具を受け入れる器具ホルダと、
前記外科手術器具の先端と対象領域の組織との間の相互作用力を測定する第一のセンサと、
外科医と前記外科手術器具のハンドルとの間の相互作用力を測定する第二のセンサと、
前記外科手術器具を、当該外科手術器具の先端と前記対象領域の組織との間の相互作用力により生じる抵抗力が最小である経路に向けて付勢することにより、アルゴリズムを実施して前記外科手術器具をアクティブに誘導するとともに、前記ハンドルから入力された力と前記先端の力との関数として前記外科手術器具の指向性の器具力を制限するデータプロセッサと、を備える
外科手術器具の協働制御システム。 - 前記外科医が前記外科手術器具の方向を変更すると、前記指向性の器具力の各限界点は再分布される、請求項1に記載の外科手術器具の協働制御システム。
- 前記アクティブな誘導は、前記外科手術器具の先端と前記対象領域の組織との間で測定された相互作用力および前記外科医と前記外科手術器具のハンドルとの間で測定された相互作用力に基づく、請求項1に記載の外科手術器具の協働制御システム。
- 前記データプロセッサは、前記外科手術器具の先端と前記対象領域の組織との間の相互作用力の限界を定めることによって、前記指向性の器具力を制限するように構成されている、請求項1に記載の外科手術器具の協働制御システム。
- 前記データプロセッサは、前記外科手術器具の先端と前記対象領域の組織との間の相互作用力の限界を定めることによって、前記指向性の器具力を制限するように構成され、前記限界は、組織の処置中に収集したセンサデータに基づく、請求項1に記載の外科手術器具の協働制御システム。
- 前記組織が眼球組織である、請求項5に記載の外科手術器具の協働制御システム。
- 鈍的組織切開を実行するために使用される、請求項1に記載の外科手術器具の協働制御システム。
- 前記データプロセッサは、
は、前記外科手術器具の先端の速度であり、flimは、前記外科手術器具の先端と前記対象領域の組織との間の相互作用力の限界であり、ftは、前記外科手術器具の先端と前記対象領域の組織との間の相互作用力の測定値であり、長さllimの仮想バネを用いて、前記限界における安定性を確保する、請求項1に記載の外科手術器具の協働制御システム。 - 前記データプロセッサは、
は前記外科手術器具の先端の速度であり、f h は、前記外科医と前記外科手術器具のハンドルとの間の相互作用力の測定値であり、
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
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US37003210P | 2010-08-02 | 2010-08-02 | |
US61/370,032 | 2010-08-02 | ||
PCT/US2011/046278 WO2012018823A2 (en) | 2010-08-02 | 2011-08-02 | Micro-force guided cooperative control for surgical manipulation of delicate tissue |
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JP2013536013A JP2013536013A (ja) | 2013-09-19 |
JP5840686B2 true JP5840686B2 (ja) | 2016-01-06 |
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JP2013523276A Active JP5840686B2 (ja) | 2010-08-02 | 2011-08-02 | 繊細な組織の外科的処置を行うための微小力ガイド下協働制御 |
Country Status (6)
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US (1) | US9662174B2 (ja) |
EP (1) | EP2600789B1 (ja) |
JP (1) | JP5840686B2 (ja) |
KR (1) | KR101837463B1 (ja) |
CN (1) | CN103037798B (ja) |
WO (1) | WO2012018823A2 (ja) |
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2011
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US9662174B2 (en) | 2017-05-30 |
WO2012018823A2 (en) | 2012-02-09 |
WO2012018823A3 (en) | 2012-04-19 |
EP2600789A2 (en) | 2013-06-12 |
KR101837463B1 (ko) | 2018-03-12 |
JP2013536013A (ja) | 2013-09-19 |
KR20130103710A (ko) | 2013-09-24 |
CN103037798B (zh) | 2016-03-16 |
EP2600789B1 (en) | 2015-11-18 |
EP2600789A4 (en) | 2014-06-25 |
CN103037798A (zh) | 2013-04-10 |
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