JP5864634B2 - モジュール式および協調型の医療装置ならびに関連するシステム - Google Patents
モジュール式および協調型の医療装置ならびに関連するシステム Download PDFInfo
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- JP5864634B2 JP5864634B2 JP2014021651A JP2014021651A JP5864634B2 JP 5864634 B2 JP5864634 B2 JP 5864634B2 JP 2014021651 A JP2014021651 A JP 2014021651A JP 2014021651 A JP2014021651 A JP 2014021651A JP 5864634 B2 JP5864634 B2 JP 5864634B2
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- 238000003384 imaging method Methods 0.000 claims description 28
- 230000008878 coupling Effects 0.000 claims description 22
- 238000010168 coupling process Methods 0.000 claims description 22
- 238000005859 coupling reaction Methods 0.000 claims description 22
- 238000001356 surgical procedure Methods 0.000 claims description 4
- 238000000034 method Methods 0.000 description 30
- 238000001727 in vivo Methods 0.000 description 15
- 238000003780 insertion Methods 0.000 description 14
- 230000037431 insertion Effects 0.000 description 14
- 238000011282 treatment Methods 0.000 description 14
- 210000001503 joint Anatomy 0.000 description 11
- 238000012800 visualization Methods 0.000 description 10
- 230000007246 mechanism Effects 0.000 description 9
- 238000004891 communication Methods 0.000 description 8
- 238000005286 illumination Methods 0.000 description 7
- 230000013011 mating Effects 0.000 description 7
- 230000008901 benefit Effects 0.000 description 6
- 238000001574 biopsy Methods 0.000 description 6
- 239000012636 effector Substances 0.000 description 4
- 238000005457 optimization Methods 0.000 description 3
- 238000001338 self-assembly Methods 0.000 description 3
- 210000000683 abdominal cavity Anatomy 0.000 description 2
- 210000003815 abdominal wall Anatomy 0.000 description 2
- 238000002679 ablation Methods 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 238000002357 laparoscopic surgery Methods 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 239000003795 chemical substances by application Substances 0.000 description 1
- 238000002192 cholecystectomy Methods 0.000 description 1
- 150000001875 compounds Chemical class 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 210000003238 esophagus Anatomy 0.000 description 1
- 239000000835 fiber Substances 0.000 description 1
- 210000000232 gallbladder Anatomy 0.000 description 1
- 238000012977 invasive surgical procedure Methods 0.000 description 1
- MYWUZJCMWCOHBA-VIFPVBQESA-N methamphetamine Chemical compound CN[C@@H](C)CC1=CC=CC=C1 MYWUZJCMWCOHBA-VIFPVBQESA-N 0.000 description 1
- 238000002324 minimally invasive surgery Methods 0.000 description 1
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- 210000000323 shoulder joint Anatomy 0.000 description 1
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Classifications
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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
-
- 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
- A61B2034/302—Surgical robots specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities
-
- 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
- A61B90/36—Image-producing devices or illumination devices not otherwise provided for
- A61B90/37—Surgical systems with images on a monitor during operation
- A61B2090/372—Details of monitor hardware
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- Health & Medical Sciences (AREA)
- Surgery (AREA)
- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Medical Informatics (AREA)
- Robotics (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Surgical Instruments (AREA)
- Endoscopes (AREA)
- Manipulator (AREA)
Description
しかしながら、腹腔鏡検査のような公知の最小侵襲技術は、ある程度、1)アクセスポートを通して挿入される堅い道具を使用することにより生じる可動性の制限、および2)限定された視覚的フィードバックのために範囲および複雑性において限定される。ダヴィンチ(da Vinci)(登録商標)外科システム(カリフォルニア州サニーヴェールのIntuitive Surgical,Inc.から利用可能である)のような公知のロボットシステムはまた、アクセスポートによって制限されるだけではなく、非常に大きいこと、非常に高価であること、大半の病院において利用できないこと、ならびに限定された感覚能力および移動能力を有するというさらなる不都合を有する。
図1A〜1Cは、1つの実施形態による例示的な「組み合わせ」または「モジュール式」医療装置10を描く。本出願の目的のために、「組み合わせ装置」および「モジュール式装置」の両方は、さまざまな異なる構成で配列されることができるモジュール式または交換可能なコンポーネントを有する任意の医療装置を意味するものとする。図1A〜1Cに示される組み合わせ装置10は、互いに連結または取り付けられた3つのモジュール式コンポーネント12、14、16を有する。より具体的には、装置10は2つのロボットアームモジュール式コンポーネント12、14、および他の2つのコンポーネント12、14の間に配置された1つのロボットカメラモジュール式コンポーネント16を有する。この実施態様において、モジュール式コンポーネント16は、撮像コンポーネント(図示されていない)および1つ以上の照明コンポーネント(図示されていない)を含み、一方、他のモジュール式コンポーネント12、14の各々は、アーム24、26をそれぞれ有し、照明コンポーネントまたは撮像コンポーネントは含まない。すなわち、この実施形態において、モジュール式コンポーネント16は、モジュール式の撮像および照明コンポーネント16であり、一方、2つのモジュール式コンポーネント12、14は、モジュール式アームコンポーネント12、14である。結果として生じる構成において、コンポーネント12、14、16は、カメラコンポーネント16が2つのモジュール式アームコンポーネント12、14の間に配置されるように互いに連結または取り付けられる。下にさらに詳しく議論されるように、コンポーネント12、14、16のこの構成は、そのようなモジュール式コンポーネントのいくつかの考えられ得る構成のうちの1つに過ぎない。
の3本腕のロボットは図10に示されるような3つの1本腕セグメントを使用して組み立てられ得る。あるいは、その3本腕のロボットは、3つのモジュール式本体を端と端で結合することによって、およびアームコンポーネントをモジュール式本体の各結合に連結することによって組み立てられ得る。
本明細書中で開示される装置250の種々の実施形態が、セグメントにおいてアームおよび/または回転可能なシリンダーを作動するのに必要な力を発生するために適した作動コンポーネントを含むと理解される。1つの実施形態において、作動コンポーネントはモータである。例えば、セグメント252Aは、アーム260に作動可能に連結され、かつアーム260の移動の動力を供給するように構成されるモータ(図示されていない)を有する。同様に、セグメント252Bは、アーム262に作動可能に連結され、かつアーム260の移動の動力を供給するように構成されるモータ(図示されていない)を有する。さらなる実施形態において、セグメント252A、252B、254の各々はまた、各セグメントの内側シリンダーおよび外側シリンダーの片方または両方に作動可能に連結され、かつ互いに対するシリンダーの回転に動力を供給するモータ(図示されていない)を有する。1つの実施形態において、各セグメントは、そのセグメントに結合された全ての駆動可能な要素(アーム、シリンダーなど)に動力を供給する1つのモータを有することができる。あるいは、各駆動可能要素について、別個のモータが提供されることができる。
1つの実施形態によれば、装置は、自然開口部、ポート、または切開を通して導入されながら組み立てられる。例えば、挿入が食道を通る場合、各ロボットはオーバーチューブを下に挿入され、それは、各ロボットがオーバーチューブを「押されて」下ると一貫した組立て品のための「一列に並ぶ」能力を提供する。あるいは、腹腔内への挿入の後に、カメラおよびツールが機械的接続を支援するために挿入されることができ、または、他のロボット装置が機械的接続を手伝うために使用されることができる。
Claims (12)
- モジュール式医療装置システムであって、前記システムは、
(a)患者の腔内に配置されるように構成される第1のモジュール式コンポーネントであって、
(i)第1の本体と、
(ii)前記第1の本体に作動可能に結合された第1の作動コンポーネントと、
(iii)前記第1の本体に結合された少なくとも1つの第1の連結コンポーネントと
を含む第1のモジュール式コンポーネントと、
(b)前記患者の腔内に配置されるように構成される第2のモジュール式コンポーネントであって、
(i)第2の本体と、
(ii)前記第2の本体に作動可能に連結される第2の作動コンポーネントであって、同第2の作動コンポーネントは、完全に前記腔内に配置可能に構成されるとともに外科的処置を施すように構成される第1の作動アームコンポーネントを備える、前記第2の作動コンポーネントと、
(iii)前記少なくとも1つの第1の連結コンポーネントと連結可能に構成される、前記第2の本体に結合される少なくとも1つの第2の連結コンポーネントと
を含む第2のモジュール式コンポーネントと、
(c)前記患者の腔内に配置されるように構成される第3のモジュール式コンポーネントであって、
(i)第3の本体と、
(ii)前記第3の本体に作動可能に連結される第3の作動コンポーネントであって、同第3の作動コンポーネントは、完全に前記腔内に配置可能に構成される第2の作動アームコンポーネントを含む、第3の作動コンポーネントと、
(iii)前記少なくとも1つの第1の連結コンポーネントおよび前記少なくとも1つの第2の連結コンポーネントと連結可能に構成される、前記第3の本体に結合される少なくとも1つの第3の連結コンポーネントと
を含む第3のモジュール式コンポーネントと
を含むモジュール式医療装置システム。 - 前記第1の作動コンポーネントが、撮像コンポーネント、センサコンポーネント、および照明コンポーネントの中から選択される、請求項1に記載のシステム。
- 前記第1の作動アームコンポーネントが、焼灼器を含み、前記第2の作動アームコンポーネントが、把持器を含む、請求項1に記載のシステム。
- 前記第1のモジュール式コンポーネントが、前記第2のモジュール式コンポーネントと前記第3のモジュール式コンポーネントとの間に配置され、前記第1の作動コンポーネントが、撮像コンポーネントを含む、請求項1に記載のシステム。
- 前記第1のモジュール式コンポーネントが、第2の撮像コンポーネント、センサコンポーネント、および照明コンポーネントの中から選択される第4の作動コンポーネントをさらに含む、請求項4に記載のシステム。
- 前記第1、第2、および第3のモジュール式コンポーネントが、三角形構成で連結される、請求項1に記載のシステム。
- 前記第2、および第3の本体が、組み合わせ体を形成するように前記第1の本体に連結される、請求項1に記載のシステム。
- 前記第1の作動アームが、該組み合わせ体の第1の端において前記第2の本体に連結され、前記第2の作動アームが、該組み合わせ体の第2の端において前記第3の本体に連結される、請求項7に記載のシステム。
- 前記患者の腔の外側に位置決めされるように構成される外部コントローラであって、接続コンポーネントを介して前記第1および第2のモジュール式コンポーネントのうち少なくとも一方に作動可能に連結される、前記外部コントローラをさらに備える、請求項1に記載のシステム。
- 前記外部コントローラが、前記第1の作動アームコンポーネントに作動可能に連結される少なくとも1つのアームコントローラコンポーネントを含む、請求項9に記載のシステム。
- 前記外部コントローラが、画像表示コンポーネントを含む、請求項9に記載のシステム。
- 前記第1の作動コンポーネントが、撮像コンポーネントを含み、さらに、前記外部コントローラが、前記接続コンポーネントを介して前記撮像コンポーネントに作動可能に連結される画像表示コンポーネントを含む、請求項9に記載のシステム。
Applications Claiming Priority (10)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US95603207P | 2007-08-15 | 2007-08-15 | |
US60/956,032 | 2007-08-15 | ||
US99007607P | 2007-11-26 | 2007-11-26 | |
US99010607P | 2007-11-26 | 2007-11-26 | |
US60/990,076 | 2007-11-26 | ||
US60/990,106 | 2007-11-26 | ||
US2534608P | 2008-02-01 | 2008-02-01 | |
US61/025,346 | 2008-02-01 | ||
US3061708P | 2008-02-22 | 2008-02-22 | |
US61/030,617 | 2008-02-22 |
Related Parent Applications (1)
Application Number | Title | Priority Date | Filing Date |
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JP2010521208A Division JP5475662B2 (ja) | 2007-08-15 | 2008-08-15 | モジュール式およびセグメント化医療装置ならびに関連するシステム |
Publications (2)
Publication Number | Publication Date |
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JP2014168681A JP2014168681A (ja) | 2014-09-18 |
JP5864634B2 true JP5864634B2 (ja) | 2016-02-17 |
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JP2010521208A Expired - Fee Related JP5475662B2 (ja) | 2007-08-15 | 2008-08-15 | モジュール式およびセグメント化医療装置ならびに関連するシステム |
JP2014021651A Expired - Fee Related JP5864634B2 (ja) | 2007-08-15 | 2014-02-06 | モジュール式および協調型の医療装置ならびに関連するシステム |
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JP2010521208A Expired - Fee Related JP5475662B2 (ja) | 2007-08-15 | 2008-08-15 | モジュール式およびセグメント化医療装置ならびに関連するシステム |
Country Status (5)
Country | Link |
---|---|
US (1) | US8974440B2 (ja) |
EP (1) | EP2178456B1 (ja) |
JP (2) | JP5475662B2 (ja) |
CA (1) | CA2695619C (ja) |
WO (1) | WO2009023851A1 (ja) |
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EP2178456A1 (en) | 2010-04-28 |
JP2010536436A (ja) | 2010-12-02 |
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CA2695619A1 (en) | 2009-02-19 |
WO2009023851A1 (en) | 2009-02-19 |
CA2695619C (en) | 2015-11-24 |
US8974440B2 (en) | 2015-03-10 |
JP2014168681A (ja) | 2014-09-18 |
EP2178456A4 (en) | 2016-07-20 |
JP5475662B2 (ja) | 2014-04-16 |
US20090048612A1 (en) | 2009-02-19 |
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