JP5940864B2 - 医療用マニピュレータ - Google Patents
医療用マニピュレータ Download PDFInfo
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- JP5940864B2 JP5940864B2 JP2012091262A JP2012091262A JP5940864B2 JP 5940864 B2 JP5940864 B2 JP 5940864B2 JP 2012091262 A JP2012091262 A JP 2012091262A JP 2012091262 A JP2012091262 A JP 2012091262A JP 5940864 B2 JP5940864 B2 JP 5940864B2
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- gripper
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- shaft
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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
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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
- A61B17/2909—Handles
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
- A61B18/04—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating
- A61B18/12—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating by passing a current through the tissue to be heated, e.g. high-frequency current
- A61B18/14—Probes or electrodes therefor
- A61B18/1442—Probes having pivoting end effectors, e.g. forceps
- A61B18/1445—Probes having pivoting end effectors, e.g. forceps at the distal end of a shaft, e.g. forceps or scissors at the end of a rigid rod
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
- A61B18/04—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating
- A61B18/12—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating by passing a current through the tissue to be heated, e.g. high-frequency current
- A61B18/14—Probes or electrodes therefor
- A61B18/1482—Probes or electrodes therefor having a long rigid shaft for accessing the inner body transcutaneously in minimal invasive surgery, e.g. laparoscopy
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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
- A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
- A61B2017/00292—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery mounted on or guided by flexible, e.g. catheter-like, means
- A61B2017/003—Steerable
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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
- A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
- A61B2017/00292—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery mounted on or guided by flexible, e.g. catheter-like, means
- A61B2017/003—Steerable
- A61B2017/00305—Constructional details of the flexible means
- A61B2017/00314—Separate linked members
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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
- A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
- A61B2017/00292—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery mounted on or guided by flexible, e.g. catheter-like, means
- A61B2017/003—Steerable
- A61B2017/00318—Steering mechanisms
- A61B2017/00323—Cables or rods
- A61B2017/00327—Cables or rods with actuating members moving in opposite directions
-
- 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
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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
- A61B2017/00477—Coupling
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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
- A61B2017/2901—Details of shaft
- A61B2017/2908—Multiple segments connected by articulations
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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
- 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
-
- 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
- A61B2017/2926—Details of heads or jaws
- A61B2017/2927—Details of heads or jaws the angular position of the head being adjustable with respect to the shaft
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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
- A61B2017/2926—Details of heads or jaws
- A61B2017/2927—Details of heads or jaws the angular position of the head being adjustable with respect to the shaft
- A61B2017/2929—Details of heads or jaws the angular position of the head being adjustable with respect to the shaft with a head rotatable about the longitudinal axis of the shaft
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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
- A61B2017/2926—Details of heads or jaws
- A61B2017/2932—Transmission of forces to jaw members
- A61B2017/2933—Transmission of forces to jaw members camming or guiding means
- A61B2017/2936—Pins in guiding slots
-
- 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
- A61B2017/2926—Details of heads or jaws
- A61B2017/2932—Transmission of forces to jaw members
- A61B2017/2939—Details of linkages or pivot points
-
- 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
- A61B2017/2946—Locking means
-
- 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
- A61B2017/2947—Pivots
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
- A61B2018/00571—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body for achieving a particular surgical effect
- A61B2018/00601—Cutting
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
- A61B2018/0091—Handpieces of the surgical instrument or device
- A61B2018/00916—Handpieces of the surgical instrument or device with means for switching or controlling the main function of the instrument or device
- A61B2018/0094—Types of switches or controllers
- A61B2018/00952—Types of switches or controllers rotatable
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- 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
- A61B90/03—Automatic limiting or abutting means, e.g. for safety
- A61B2090/031—Automatic limiting or abutting means, e.g. for safety torque limiting
Description
12…グリッパ 14…先端動作部
16…シャフト 18…ハンドル
20…コントローラ 22…高周波電源部
26…第1グリッパ部材 28…第2グリッパ部材
30…グリッパ保持部材 32…外殻部材
34…湾曲部 36…関節部材
46…駆動モータ 50…回転ハンドル
60…導線 62…円筒端子
64…接触端子 66…第1ベルト
68…第2ベルト 82…中空チューブ
82a…中空部 84…外筒
86…内筒 94…移動体
X…処置対象
Claims (6)
- シャフトと、
前記シャフトの先端に設けられ、処置対象に処置を行うエンドエフェクタを有する先端動作部と、
前記シャフトの基端に設けられ、人からの入力に基づき前記エンドエフェクタを動作させる本体部とを備える医療用マニピュレータであって、
前記先端動作部は、
前記エンドエフェクタと前記シャフトの間に設けられ、前記本体部から伝達される曲げ方向の動作力により前記シャフトの軸方向と異なる方向に前記先端動作部を湾曲させる湾曲部と、
前記湾曲部に重なる位置に設けられ該湾曲部の動作に追従して湾曲可能であり、且つ前記本体部から伝達される回転方向の動作力を、前記エンドエフェクタに伝達して該エンドエフェクタを無制限に回転可能とするチューブとを備え、
前記先端動作部は、前記本体部から伝達される先端及び基端方向の動作力を、前記チューブを介して前記エンドエフェクタに伝達させる
ことを特徴とする医療用マニピュレータ。 - 請求項1記載の医療用マニピュレータにおいて、
前記湾曲部は、剛性を有する関節部材を軸方向に沿って3つ以上並設し、隣接する前記関節部材同士を互いに屈曲可能に連結した構成からなり、
前記チューブは、前記湾曲部の軸長よりも長く延在している
ことを特徴とする医療用マニピュレータ。 - 請求項1記載の医療用マニピュレータにおいて、
前記エンドエフェクタは、第1及び第2グリッパ部材を開閉させて前記処置対象を挟むグリッパであり、
前記グリッパは、前記チューブを介して伝達される前記基端方向の動作力により前記第1及び第2グリッパ部材を閉じ、且つ前記チューブを介して伝達される前記先端方向の動作力により前記第1及び第2グリッパ部材を開く
ことを特徴とする医療用マニピュレータ。 - 請求項1〜3のいずれか一項に記載の医療用マニピュレータにおいて、
前記先端動作部は、
前記湾曲部の先端部に連なる外殻部材と、
前記外殻部材の内部に少なくとも一部が収容された状態で、前記エンドエフェクタを保持し、前記チューブからの前記回転方向の動作力により前記外殻部材と相対的に回転する保持部材とを備える
ことを特徴とする医療用マニピュレータ。 - 請求項4記載の医療用マニピュレータにおいて、
前記外殻部材は、前記保持部材の外面と対向する内壁に周方向に刻設された溝部を有し、
前記保持部材は、前記溝部に対し回転自在に挿入される突出部を有する
ことを特徴とする医療用マニピュレータ。 - 請求項1〜5のいずれか一項に記載の医療用マニピュレータにおいて、
前記チューブの内部には、軸方向に延在する中空部を囲うように複数のコイルが重なるように設けられ、
前記複数のコイルのうち少なくとも2つのコイルは互いに異なる巻き方向に巻回している
ことを特徴とする医療用マニピュレータ。
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2012091262A JP5940864B2 (ja) | 2012-04-12 | 2012-04-12 | 医療用マニピュレータ |
EP13775568.2A EP2837354B1 (en) | 2012-04-12 | 2013-04-11 | Medical manipulator |
PCT/JP2013/060948 WO2013154159A1 (ja) | 2012-04-12 | 2013-04-11 | 医療用マニピュレータ |
US14/511,738 US20150032150A1 (en) | 2012-04-12 | 2014-10-10 | Medical Manipulator |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2012091262A JP5940864B2 (ja) | 2012-04-12 | 2012-04-12 | 医療用マニピュレータ |
Publications (2)
Publication Number | Publication Date |
---|---|
JP2013220106A JP2013220106A (ja) | 2013-10-28 |
JP5940864B2 true JP5940864B2 (ja) | 2016-06-29 |
Family
ID=49327717
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2012091262A Active JP5940864B2 (ja) | 2012-04-12 | 2012-04-12 | 医療用マニピュレータ |
Country Status (4)
Country | Link |
---|---|
US (1) | US20150032150A1 (ja) |
EP (1) | EP2837354B1 (ja) |
JP (1) | JP5940864B2 (ja) |
WO (1) | WO2013154159A1 (ja) |
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EP2837354A1 (en) | 2015-02-18 |
WO2013154159A1 (ja) | 2013-10-17 |
EP2837354A4 (en) | 2015-09-16 |
US20150032150A1 (en) | 2015-01-29 |
JP2013220106A (ja) | 2013-10-28 |
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