JP5946784B2 - 外科用視覚化方法、システムおよびデバイス、ならびにデバイス操作 - Google Patents
外科用視覚化方法、システムおよびデバイス、ならびにデバイス操作 Download PDFInfo
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Classifications
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- 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
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- A—HUMAN NECESSITIES
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- A61B90/36—Image-producing devices or illumination devices not otherwise provided for
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/06—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor with illuminating arrangements
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/313—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor for introducing through surgical openings, e.g. laparoscopes
- A61B1/3132—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor for introducing through surgical openings, e.g. laparoscopes for laparoscopy
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- A61B2017/2919—Handles transmission of forces to actuating rod or piston details of linkages or pivot points
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- A—HUMAN NECESSITIES
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- A61B90/36—Image-producing devices or illumination devices not otherwise provided for
- A61B90/37—Surgical systems with images on a monitor during operation
- A61B2090/373—Surgical systems with images on a monitor during operation using light, e.g. by using optical scanners
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- A61B90/36—Image-producing devices or illumination devices not otherwise provided for
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- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
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- Veterinary Medicine (AREA)
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- Oral & Maxillofacial Surgery (AREA)
- Pathology (AREA)
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Description
以下は、本願明細書で開示されたような任意のコンソールで使用することができるNOTESロボット・デバイスの1つの実施形態の動作の例示的な運動学的設計である。設計は、ロボット・デバイスの1つの特定の実施形態の単なる例示的なものであり、上述したように、コンソールとあわせて使用することができる任意の数のロボット・デバイスとして任意の方法で限定することを意図するものではない。
以下は、NOTESロボット・デバイスのショルダ継手の1つの実施形態の動作の例示的設計である。ここで、ロボット・デバイスの本体でアームを定平面に保持したいことにより、典型的な継手設計からの逸脱が必要であった。NOTESロボット・デバイスのショルダ継手の運動モデルの1つの実施例が、図16に示されている。本機構では、運動用送りねじは、y方向にのみ移動するように制約されたスライダに力(Fs)を加える。スライダ機構は、各端部で回転自由度でリンク(bd)によってロボット・アーム(ac)に接続されている。長さ(ab)は一定であり、回転点(a)からリンク・ピン(b)までのアームの長さを規定する。長さ(ad)は、回転点(a)とスライダ(d)との間の距離を示す。角度θ1は、(ab)と(ad)との間の角度である。この特定の実施例では、モデルのリンク長さが式8〜式11に示されている。
以下は、コンソールのマニピュレータの1つの実施形態の運動の例示的設計である。本実施例では、腹腔鏡ツール・ハンドルは、NOTESロボット・デバイスの移動を制御するために使用される。ロボット・デバイスの自然のおよび実際の制御は、腹腔鏡ツールがロボット・アームと同じ点周りで回転する必要があることによって達成された。この点は図では物理的に同じ点であるが、この点は仮想点である可能性がある。仮想点がコンソールおよびロボット・デバイス両方に対して物理的に同じ場所にない場合の仮想点に対する相対的運動により、同じ効果が作り出される。
本実施例でのブラケット回転とばね板回転の間の関係は、式32によって与えられる。上記最大ブラケット回転を代用することにより、式33に示すように最大ばね板回転が生じる。
Claims (11)
- 外科用システムであって、
(a)患者の体腔内に全体が位置決めされるロボット・デバイスであって、
(i)デバイス本体と、
(ii)前記デバイス本体に動作可能に接続され、第1の終端エフェクタを含む第1のロボット・アームと、
(iii)前記デバイス本体に動作可能に接続され、第2の終端エフェクタを含む第2のロボット・アームと、
(iv)前記デバイス本体に付随して設けられ、前記第1及び第2のロボット・アーム間に位置決めされたカメラと、
を含む前記ロボット・デバイスと、
(b)ユーザ・コンソールであって、
(i)前記ユーザ・コンソールに動作可能に接続され、前記第1及び第2のロボット・アームと連動するように構成された第1及び第2のマニピュレータ・アームと、
(ii)前記ユーザ・コンソール上に配置され、前記カメラから画像を受けるように構成された視覚ディスプレイであって、前記カメラから画像を受けることにより前記第1及び第2のロボット・アームと物理的に接続されているように前記第1及び第2のマニピュレータ・アームを視覚的に見せる視覚ディスプレイと、
(iii)前記ユーザ・コンソールと関連付けされているコンソール磁石であって、前記ロボット・デバイスと磁気結合するように構成された前記コンソール磁石と、
を含む前記ユーザ・コンソールと、
(c)前記ユーザ・コンソールと前記ロボット・デバイスとを動作可能に接続する接続構成要素と
を備える外科用システム。 - 前記接続構成要素が、前記ユーザ・コンソールと前記ロボット・デバイスとを物理的に接続するように構成された連結部からなる、請求項1に記載の外科用システム。
- 前記第1のロボット・アームが第1の肘継手を含み、前記第2のロボット・アームが第2の肘継手を含む、請求項1に記載の外科用システム。
- 前記第1及び第2のマニピュレータ・アームは、当該第1及び第2のマニピュレータ・アームが前記視覚ディスプレイを貫通しているように見せるべく前記視覚ディスプレイに対して位置決めされている、請求項1に記載の外科用システム。
- 前記第1及び第2のマニピュレータ・アームは、当該第1及び第2のマニピュレータ・アームが前記体腔内を貫通しているように見せるべく前記視覚ディスプレイに対して位置決めされている、請求項1に記載の外科用システム。
- 前記第1及び第2のマニピュレータ・アームの各々は標準的腹腔鏡ツールとして動作するように構成されている、請求項1に記載の外科用システム。
- 前記第1及び第2のマニピュレータ・アームの各々は標準的腹腔鏡ツール・ハンドルに類似した形状を有する、請求項1に記載の外科用システム。
- 取付構成要素をさらに備える請求項1に記載の外科用システム。
- 前記ユーザ・コンソールが患者に隣接して配置されている、請求項1に記載の外科用システム。
- 前記ユーザ・コンソールが患者から離れた場所に配置されている、請求項1に記載の外科用システム。
- 前記第1及び第2のマニピュレータ・アームは4つの自由度で動作するように構成されている、請求項1に記載の外科用システム。
Applications Claiming Priority (8)
Application Number | Priority Date | Filing Date | Title |
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US89069107P | 2007-02-20 | 2007-02-20 | |
US60/890,691 | 2007-02-20 | ||
US95603207P | 2007-08-15 | 2007-08-15 | |
US60/956,032 | 2007-08-15 | ||
US98344507P | 2007-10-29 | 2007-10-29 | |
US60/983,445 | 2007-10-29 | ||
US11/966,741 US9579088B2 (en) | 2007-02-20 | 2007-12-28 | Methods, systems, and devices for surgical visualization and device manipulation |
US11/966,741 | 2007-12-28 |
Related Parent Applications (1)
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JP2009550867A Division JP5378236B2 (ja) | 2007-02-20 | 2007-12-31 | 外科用視覚化方法、システムおよびデバイス、ならびにデバイス操作 |
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JP2013099659A JP2013099659A (ja) | 2013-05-23 |
JP5946784B2 true JP5946784B2 (ja) | 2016-07-06 |
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JP2009550867A Expired - Fee Related JP5378236B2 (ja) | 2007-02-20 | 2007-12-31 | 外科用視覚化方法、システムおよびデバイス、ならびにデバイス操作 |
JP2013042097A Expired - Fee Related JP5946784B2 (ja) | 2007-02-20 | 2013-03-04 | 外科用視覚化方法、システムおよびデバイス、ならびにデバイス操作 |
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Country | Link |
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US (1) | US9579088B2 (ja) |
EP (2) | EP3072640B1 (ja) |
JP (2) | JP5378236B2 (ja) |
CA (1) | CA2678610C (ja) |
WO (1) | WO2008103212A2 (ja) |
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JP5378236B2 (ja) | 2013-12-25 |
EP3072640B1 (en) | 2018-02-14 |
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JP2013099659A (ja) | 2013-05-23 |
CA2678610A1 (en) | 2008-08-28 |
CA2678610C (en) | 2015-07-07 |
EP3072640A1 (en) | 2016-09-28 |
EP2132007B1 (en) | 2016-03-30 |
WO2008103212A3 (en) | 2008-12-18 |
US9579088B2 (en) | 2017-02-28 |
US20080221591A1 (en) | 2008-09-11 |
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WO2008103212A2 (en) | 2008-08-28 |
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