JP5852593B2 - 遠隔操縦ロボットシステム用の外科手術マニピュレーター - Google Patents
遠隔操縦ロボットシステム用の外科手術マニピュレーター Download PDFInfo
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- JP5852593B2 JP5852593B2 JP2013002441A JP2013002441A JP5852593B2 JP 5852593 B2 JP5852593 B2 JP 5852593B2 JP 2013002441 A JP2013002441 A JP 2013002441A JP 2013002441 A JP2013002441 A JP 2013002441A JP 5852593 B2 JP5852593 B2 JP 5852593B2
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- Prior art keywords
- tool
- surgical
- holder
- link
- shaft
- 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.)
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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
- A61B17/28—Surgical forceps
- A61B17/29—Forceps for use in minimally invasive 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
- A61B34/30—Surgical robots
- A61B34/35—Surgical robots for telesurgery
-
- 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
- A61B34/71—Manipulators operated by drive cable mechanisms
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/04—Gripping heads and other end effectors with provision for the remote detachment or exchange of the head or parts thereof
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
- B25J18/02—Arms extensible
- B25J18/04—Arms extensible rotatable
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/106—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links
- B25J9/1065—Programme-controlled manipulators characterised by positioning means for manipulator elements with articulated links with parallelograms
-
- 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
- A61B2017/0046—Surgical instruments, devices or methods, e.g. tourniquets with a releasable handle; with handle and operating part separable
- A61B2017/00464—Surgical instruments, devices or methods, e.g. tourniquets with a releasable handle; with handle and operating part separable for use with different instruments
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/00477—Coupling
-
- 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
- A61B17/29—Forceps for use in minimally invasive surgery
- A61B2017/2901—Details of shaft
- A61B2017/2902—Details of shaft characterized by features of the actuating rod
-
- 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
- A61B17/29—Forceps for use in minimally invasive surgery
- A61B17/2909—Handles
- A61B2017/2912—Handles transmission of forces to actuating rod or piston
- A61B2017/2919—Handles transmission of forces to actuating rod or piston details of linkages or pivot points
- A61B2017/292—Handles transmission of forces to actuating rod or piston details of linkages or pivot points connection of actuating rod to handle, e.g. ball end in recess
-
- 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
- A61B2034/305—Details of wrist mechanisms at distal ends of robotic arms
-
- 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
- A61B90/50—Supports for surgical instruments, e.g. articulated arms
- A61B2090/506—Supports for surgical instruments, e.g. articulated arms using a parallelogram linkage, e.g. panthograph
-
- 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
Description
本発明の他の特徴や利点は以下の記載から明らかとなり、好適実施態様が添付図面に関連して詳細に述べられる。
図1を参照すると、ベース6は、基部及び末端の長サポート部材17、19を有するフレーム16と、ベアリング22を介してサポート部材17、19に回転可能に連結された第1及び第2ボールスプラインシャフト18、20とから成る。以下に詳細に述べるように(図9参照)、フレーム16はさらに、マニピュレーターアセンブリ2をリモート中心位置決め器300に取り付けるためのサポートブラケット24を含む。ドライブアセンブリ7は第1、第2及び第3ドライブ8、10、12を含み、これらはフレーム16に装着され外科手術用具14に三自由度を与えるように構成される。好適実施態様では、第1ドライブ8は用具14をそれ自身の軸を中心として回転させ、第2ドライブ10は用具14の末端のエンドエフェクター120を作動させ、そして第3ドライブ12は用具14をフレーム16に対して軸方向に変位させる。もちろん、他の構成が可能なことは当業者には容易に分かるであろう。例えば、アセンブリ2は、外科手術用具14に別の自由度(例えば用具手首の回転や屈曲)を与えるための更なるドライブを含むことができる。
Claims (7)
- 基部エンド及び末端エンドを有する長尺シャフトと、末端エンド上のエンドエフェクターと、基部エンドと末端エンドの中間の該シャフトから横方向に延在する装着手段とを含む外科手術用具と;
第1及び第2ドライブ(8,10)を含むドライブアセンブリ(7)と;
第1及び第2エンド付き本体を有するサポートを含む用具ホルダーであって、該用具ホルダーは、
前記外科手術用具上でエンドエフェクターを作動するため前記長尺シャフトに開放可能に連結されたアクチュエータードライバー(80)、
前記第1ドライブ(8)を前記外科手術用具に連結するための第1シャフト(18)、及び
前記第2ドライブ(10)を前記アクチュエータードライバー(80)に連結するための第2シャフト(20)、
を含み、前記第1及び第2シャフト(18,20)は少なくとも二つの動作作動を前記ドライブアセンブリ(7)から前記外科手術用具に伝達するように構成された前記用具ホルダーと;
を含む外科手術システムであって、該外科手術システムは、
前記用具に沿った所望の位置において回転の所望の球中心を中心とした前記用具の移動を拘束するための装置であって、該装置は、
ベース、
軸を中心として回転するよう前記ベース上に旋回自在に装着された第1リンクであって、前記用具ホルダーは、用具に沿った球回転の所望の遠隔中心が前記軸と交差するような位置に前記用具を保持する前記第1リンク、及び
第2リンクと平行関係の平面内で前記用具ホルダーを移動させるため、前記用具ホルダーに接続された第2リンクであって、前記第2リンクが前記軸に対して平行のままであり且つ前記第1リンクが前記用具に対して平行のままであるように、前記第1リンクに旋回自在に接続された前記第2リンク、
を含み、前記第1及び第2リンクが前記用具の移動を拘束し、これにより前記用具に沿った所望の位置が前記回転の球中心に固定、維持される前記装置;
をさらに含む前記外科手術システム。 - 前記用具ホルダーが、マニピュレーターアセンブリから前記用具に、また前記用具からマニピュレーターアセンブリに電気信号を伝達するための一つ以上の電気的貫通接続をさらに含む、請求項1記載の外科手術システム。
- 前記ドライブアセンブリ(7)は、前記用具ホルダーに連結された第3ドライブ(12)をさらに含み、該第3ドライブは前記用具を軸方向に変位させるためのアクチュエーターを有する請求項1記載の外科手術システム。
- 前記外科手術用具が手首を含み、前記用具の末端エンドが前記長尺シャフトに対し該手首を中心として旋回可能であり、前記システムが該手首を中心として長尺シャフトの末端エンド部分を旋回させるため、用具ホルダーに連結されたアクチュエーターをさらに含む請求項1記載の外科手術システム。
- 前記リンクの少なくとも一つが、屈曲性ドライブエレメントを含み、該屈曲性ドライブエレメントによって前記一つのリンクの移動が他のリンクに伝達される、請求項1記載の外科手術システム。
- 前記外科手術用具から遠く離れて配置された入力制御装置、
前記外科手術用具を入力制御装置で遠隔制御するため、前記用具ホルダー及び入力制御装置に連結された一つ以上のサーボ機構、
前記用具に対し作用する力を感知すると共に、該力を入力制御装置に伝達するため、前記サーボ機構に連結された一つ以上のセンサーであって、該センサーによって検知された前記力は用具ホルダーに対し作用する重力を含む前記センサー、及び
前記外科手術用具の垂直に対する方向を測定するため、前記サーボ機構に連結されたクリノメーター、
を更に含む請求項1に記載の外科手術システム。 - 前記用具が垂直に対する角度に向けられ、前記クリノメーターが該角度を測定し、該角度を表示するサーボ機構に信号を送り、これにより前記用具に対し作用する重力が入力制御装置に伝達されるのを防止する、請求項6記載の外科手術システム。
Applications Claiming Priority (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US48702095A | 1995-06-07 | 1995-06-07 | |
US08/487,020 | 1995-06-07 | ||
US08/485,587 US5649956A (en) | 1995-06-07 | 1995-06-07 | System and method for releasably holding a surgical instrument |
US08/485,587 | 1995-06-07 |
Related Parent Applications (1)
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JP2010173758A Division JP5276065B2 (ja) | 1995-06-07 | 2010-08-02 | 遠隔操縦ロボットシステム用の外科手術マニピュレーター |
Publications (2)
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JP2013099554A JP2013099554A (ja) | 2013-05-23 |
JP5852593B2 true JP5852593B2 (ja) | 2016-02-03 |
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Family Applications (12)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP50165097A Expired - Lifetime JP4416840B2 (ja) | 1995-06-07 | 1996-06-05 | 遠隔操縦ロボットシステム用の外科手術マニピュレーター |
JP2006276834A Expired - Lifetime JP4444261B2 (ja) | 1995-06-07 | 2006-10-10 | 遠隔操縦ロボットシステム用の外科手術マニピュレーター |
JP2008178182A Expired - Lifetime JP4953321B2 (ja) | 1995-06-07 | 2008-07-08 | 遠隔操縦ロボットシステム用の外科手術マニピュレーター |
JP2010173758A Expired - Lifetime JP5276065B2 (ja) | 1995-06-07 | 2010-08-02 | 遠隔操縦ロボットシステム用の外科手術マニピュレーター |
JP2013002471A Expired - Lifetime JP5883401B2 (ja) | 1995-06-07 | 2013-01-10 | 遠隔操縦ロボットシステム用の外科手術マニピュレーター |
JP2013002463A Expired - Lifetime JP5943481B2 (ja) | 1995-06-07 | 2013-01-10 | 遠隔操縦ロボットシステム用の外科手術マニピュレーター |
JP2013002454A Pending JP2013126712A (ja) | 1995-06-07 | 2013-01-10 | 遠隔操縦ロボットシステム用の外科手術マニピュレーター |
JP2013002440A Pending JP2013135850A (ja) | 1995-06-07 | 2013-01-10 | 遠隔操縦ロボットシステム用の外科手術マニピュレーター |
JP2013002459A Expired - Lifetime JP5709027B2 (ja) | 1995-06-07 | 2013-01-10 | 遠隔操縦ロボットシステム用の外科手術マニピュレーター |
JP2013002441A Expired - Lifetime JP5852593B2 (ja) | 1995-06-07 | 2013-01-10 | 遠隔操縦ロボットシステム用の外科手術マニピュレーター |
JP2013002448A Expired - Lifetime JP5943480B2 (ja) | 1995-06-07 | 2013-01-10 | 遠隔操縦ロボットシステム用の外科手術マニピュレーター |
JP2014162769A Expired - Lifetime JP5886388B2 (ja) | 1995-06-07 | 2014-08-08 | 遠隔操縦ロボットシステム用の外科手術マニピュレーター |
Family Applications Before (9)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP50165097A Expired - Lifetime JP4416840B2 (ja) | 1995-06-07 | 1996-06-05 | 遠隔操縦ロボットシステム用の外科手術マニピュレーター |
JP2006276834A Expired - Lifetime JP4444261B2 (ja) | 1995-06-07 | 2006-10-10 | 遠隔操縦ロボットシステム用の外科手術マニピュレーター |
JP2008178182A Expired - Lifetime JP4953321B2 (ja) | 1995-06-07 | 2008-07-08 | 遠隔操縦ロボットシステム用の外科手術マニピュレーター |
JP2010173758A Expired - Lifetime JP5276065B2 (ja) | 1995-06-07 | 2010-08-02 | 遠隔操縦ロボットシステム用の外科手術マニピュレーター |
JP2013002471A Expired - Lifetime JP5883401B2 (ja) | 1995-06-07 | 2013-01-10 | 遠隔操縦ロボットシステム用の外科手術マニピュレーター |
JP2013002463A Expired - Lifetime JP5943481B2 (ja) | 1995-06-07 | 2013-01-10 | 遠隔操縦ロボットシステム用の外科手術マニピュレーター |
JP2013002454A Pending JP2013126712A (ja) | 1995-06-07 | 2013-01-10 | 遠隔操縦ロボットシステム用の外科手術マニピュレーター |
JP2013002440A Pending JP2013135850A (ja) | 1995-06-07 | 2013-01-10 | 遠隔操縦ロボットシステム用の外科手術マニピュレーター |
JP2013002459A Expired - Lifetime JP5709027B2 (ja) | 1995-06-07 | 2013-01-10 | 遠隔操縦ロボットシステム用の外科手術マニピュレーター |
Family Applications After (2)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2013002448A Expired - Lifetime JP5943480B2 (ja) | 1995-06-07 | 2013-01-10 | 遠隔操縦ロボットシステム用の外科手術マニピュレーター |
JP2014162769A Expired - Lifetime JP5886388B2 (ja) | 1995-06-07 | 2014-08-08 | 遠隔操縦ロボットシステム用の外科手術マニピュレーター |
Country Status (7)
Country | Link |
---|---|
EP (11) | EP2135561B1 (ja) |
JP (12) | JP4416840B2 (ja) |
AT (4) | ATE469603T1 (ja) |
CA (7) | CA2715194C (ja) |
DE (3) | DE69638191D1 (ja) |
ES (2) | ES2244971T3 (ja) |
WO (1) | WO1996039944A1 (ja) |
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