JP6113666B2 - ステープル又は血管シール器具におけるナイフ位置のインジケータ - Google Patents
ステープル又は血管シール器具におけるナイフ位置のインジケータ Download PDFInfo
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Description
本出願は、2011年2月15日に出願された米国仮特許出願第61/443,115号の本出願であるとともに、同仮特許出願の優先権を主張し、この全内容は参照により本願に援用される。
幾つかの実施形態では、方法及びシステムは、ツール追跡を含み得る。ツール追跡では、位置構成要素がコンピュータに含まれる又は他の方法でコンピュータと関連付けられる。位置構成要素は、エンドエフェクタ189等のツール、又はナイフ等の要素の位置に関する情報を提供する。「位置」は、エンドエフェクタの位置及び/又は姿勢の少なくとも一方を指す。位置は、基準マーカ、形状マーカの使用を通じて、又は運動学的チェーンの追跡によって決定され得る。ツール追跡装置を考慮しようがしまいが、様々な異なる技術が、エンドエフェクタの位置に関する情報を提供するために使用され得る。単純な実施形態では、位置構成要素は、エンドエフェクタ及び/又はナイフの位置に関する情報を提供するために、画像取得装置からのビデオフィードを利用する。しかし、センサ情報、運動学的情報、又はそれらのイン意の組合せを含む、他の情報が、この画像情報の代わりに、又はこの画像情報に加えて、使用され得る。ツール追跡構成要素のために使用され得るシステムの例は、“Methods and System for Performing 3−D Tool Tracking by Fusion of Sensor and/or Camera Derived Data During Minimally Invasive Robotic Surgery”という名称の米国特許出願公開第2006/0258938号、“System for Assisting a Surgeon During Surgery”という名称の米国特許第5,950,629号、“Performing Cardiac Surgery Without Cardioplegia”という名称の米国特許第6,468,265号、及び“Tool Position and Identification Indicator Displayed in a Boundary Area of a Computer Display Screen”という名称の米国特許出願公開第2008/0004603号に開示される。ツール追跡構成要素は、共同所有の“Fiducial Marker Design And Detection For Locating Surgical Instrument In Images”という名称の米国特許出願第12/428,657号(代理人整理番号ISRG 01480/US)及び“Configuration Marker Design and Detection for Instrument Tracking”という名称の米国特許出願第12/428,691号(代理人整理番号ISRG 01910/US)に開示されたシステム及び方法を利用し得る。一般的に、位置構成要素は、エンドエフェクタの実際の位置及び姿勢に関する情報を伝える。この情報は、情報が利用可能になるときに応じて更新され、例えば、非同期情報であり得る。
他の実施形態によれば、合成ナイフ画像がナイフの実際の位置の上に表示され得る。これはシール及び切断器具のナイフによくあてはまるが、ナイフが見えない場所にあるときでさえ、例えば、ナイフが臓器の後ろにある又は血液で覆われているときでさえ、この機能は、外科医Sがナイフを追跡することを可能にする。ジョーが組織にクランプされるとき、ナイフはエンドエフェクタのジョーに沿って移動するが、ジョー及び/又はクランプされた組織によって隠されるので、ナイフは典型的には内視鏡で見ることができない。
Claims (45)
- エンドエフェクタの中の移動可能な要素、ユーザインターフェース、及びプロセッサを有するロボットシステムの作動方法であって、
前記プロセッサが、環境中で、前記移動可能な要素の少なくとも一部が前記ユーザインターフェースに表示された前記環境の画像の視界から隠される前記移動可能な要素を追跡するステップと、
前記移動可能な要素が前記エンドエフェクタによって隠されるとき、前記プロセッサが、前記ユーザインターフェースに前記エンドエフェクタの画像に重ねられる前記移動可能な要素の人工的な表現を表示させるステップと、を有し、
前記人工的な表現は、前記エンドエフェクタの運動学的に調整された位置に基づいて前記エンドエフェクタに対して表示される、
方法。 - 前記移動可能な要素を追跡するステップは、前記プロセッサが、前記移動可能な要素の位置及び/又は姿勢を決定するステップを有する、
請求項1に記載の方法。 - 前記移動可能な要素を追跡するステップは、前記プロセッサが、前記エンドエフェクタに対する前記移動可能な要素の位置を決定するステップを有する、
請求項1に記載の方法。 - 前記移動可能な要素は、材料を切断するための切断刃を有する、
請求項1に記載の方法。 - 前記移動可能な要素の前記人工的な表現は、前記移動可能な要素の場所及び/又は姿勢を示す、
請求項1に記載の方法。 - 前記移動可能な要素を追跡するステップは、前記プロセッサが、前記移動可能な要素を動かす機構の変位を追跡するステップを有する、
請求項1に記載の方法。 - 前記機構は駆動シャフトを有する、
請求項6に記載の方法。 - 前記移動可能な要素は、追跡中、第1の位置から第2の位置に動く、
請求項1に記載の方法。 - 前記人工的な表現を表示するステップは、前記移動可能な要素が前記第1と前記第2の位置との間を動くとき、前記プロセッサが、前記人工的な表現を前記ユーザインターフェースに連続的に表示させるステップを有する、
請求項8に記載の方法。 - 前記人工的な表現を表示するステップは、前記プロセッサが、トリガ条件に応じて前記人工的な表現を表示させるステップを有する、
請求項8に記載の方法。 - 前記トリガ条件は、第3の位置での前記移動可能な要素の停止であり、前記第3の位置は、前記第1と前記第2の位置との間の中間位置を含む、
請求項10に記載の方法。 - 前記画像は、前記環境のビデオ画像である、
請求項1に記載の方法。 - 前記人工的な表現は、前記ビデオ画像に重ねられる、
請求項12に記載の方法。 - 前記移動可能な要素を追跡するステップは、前記プロセッサが、前記移動可能な要素の又は前記要素の近くのセンサからの情報を受信するステップを有する、
請求項1に記載の方法。 - 前記センサは、電磁位置センサ又は感圧センサを有する、
請求項14に記載の方法。 - 前記移動可能な要素を追跡するステップは、
前記プロセッサが、前記移動可能な要素に配置されたマーカを追跡するステップ、を有する、
請求項3に記載の方法。 - 前記プロセッサが、前記エンドエフェクタに配置されたマーカを追跡することによって前記エンドエフェクタを追跡するステップをさらに有する、
請求項3に記載の方法。 - ユーザインターフェースディスプレイ、ツール、及びプロセッサを有するロボットシステムの作動方法であって、
前記プロセッサが、前記ユーザインターフェースディスプレイに、材料をクランプする前記ツールの画像を表示させるステップであって、前記ツールは、前記材料を間にクランプするための第1及び第2のジョー、並びにクランプされた前記材料を切断するための切断要素を有する、ステップと、
前記切断要素が前記ジョーによって隠されるとき、前記プロセッサが、前記ユーザインターフェースディスプレイに、前記切断要素の人工的な表現を重ねるステップであって、前記人工的な表現は、前記ツールの運動学的に調整された位置に基づいて前記ツールに対して表示される、ステップと、を有し、
前記切断要素は切断前位置及び切断完了位置を有する、
方法。 - 前記切断要素はナイフを有する、
請求項18に記載の方法。 - 前記ツールはモータ駆動式であり、前記方法は、
前記プロセッサが、前記ツールの前記第1及び前記第2のジョーをクランプ動作を実行するように動作させるステップ、
前記プロセッサが、前記ツールのモータにより、前記切断要素を作動させるステップであって、前記モータは前記切断前位置と前記切断完了位置との間で前記ジョーに対して前記切断要素を動かすように前記切断要素に動作可能に連結される、ステップ、をさらに有し、
前記切断要素の前記人工的な表現は、前記切断要素の移動中及び/又は前記切断要素の移動後、前記ディスプレイに重ねられる、
請求項18に記載の方法。 - 前記切断要素の移動中、前記プロセッサは、前記ツール上の前記切断要素の前記位置を示すように、前記切断要素の前記人工的な表現を、前記ツールの画像の上に重ねるステップをさらに有する、
請求項20に記載の方法。 - 前記切断要素の前記人工的な表現は、前記切断要素の移動が前記切断前位置と前記切断完了位置との間で立ち往生するとき、切断未完了位置を示す、
請求項20に記載の方法。 - 前記プロセッサが、前記ユーザインターフェースディスプレイに、前記切断要素が前記切断前位置と前記切断完了位置との間で立ち往生するとき、前記切断要素が露出しているという警告を重ねるステップをさらに有し、前記警告は前記切断要素の前記人工的な表現から分離している、
請求項20に記載の方法。 - 前記人工的な表現は、前記材料に対して動かされたとき前記切断要素が前記材料を切断し得るような、前記切断要素の切断端部が前記材料に対して露出されるときの切断要素露出位置を示す、
請求項20に記載の方法。 - 前記プロセッサが、前記ツールの前記モータにより、前記切断要素を作動させるステップは、前記ジョーの長手方向軸に沿って前記ジョーに対して前記切断要素を動かすステップを有する、
請求項20に記載の方法。 - 前記プロセッサが、前記ツールの前記モータにより、前記切断要素を作動させるステップは、前記切断要素を前記ジョーの前記長手方向軸に沿って前記ジョーの遠位部分から前記ジョーの近位部分に向かって、又はその逆に、動かすステップ、を有する、
請求項25に記載の方法。 - 前記プロセッサが、前記切断要素を前記切断未完了位置から前記切断前位置又は前記切断完了位置に、前記ユーザインターフェースディスプレイに前記切断要素の前記人工的な表現を重ねるステップに応じて、動かすステップをさらに有し、前記人工的な表現は、前記切断未完了位置を表示する、
請求項22に記載の方法。 - 前記プロセッサが、前記ユーザインターフェースディスプレイに前記切断未完了位置の前記人工的な表現を重ねた後、ユーザからの命令に応じて、前記切断要素を、前記切断未完了位置から前記切断前位置又は前記切断完了位置に、動かすステップをさらに有する、
請求項22に記載の方法。 - 前記プロセッサが、前記ユーザインターフェースディスプレイに表示された前記ツールの前記画像に前記ツールにおける前記切断要素の場所を表す視覚インジケータを重ねるステップをさらに有する、
請求項20に記載の方法。 - 前記ツールの画像を表示するステップは、
前記プロセッサが、画像取得装置によって提供された視界を表示するステップであって、前記視界は前記ツールの画像を含む、ステップをさらに有し、
前記ツールの表示された前記画像は、前記ツールの人工的な表現を有する、
請求項20に記載の方法。 - 移動可能な要素及びジョーを有するエンドエフェクタと、
ユーザインターフェースディスプレイと、
前記移動可能な要素の周囲のビデオ画像を取得するように位置決めされるビデオ画像取得装置であって、前記ユーザインターフェースディスプレイに前記ビデオ画像を表示するように、前記ユーザインターフェースディスプレイに連結される、ビデオ画像取得装置と、
前記移動可能な要素を前記ユーザインターフェースディスプレイと連結するプロセッサであって、前記プロセッサは、前記移動可能な要素が前記ジョーによって隠されるとき、前記ユーザインターフェースディスプレイに前記移動可能な要素の人工的な表現を出力する、プロセッサと、を有し、
前記人工的な表現は、前記エンドエフェクタの運動学的に調整された位置に基づいて前記エンドエフェクタに対して表示される、
ロボットシステム。 - 前記移動可能な要素は切断刃を有する、
請求項31に記載のシステム。 - 前記人工的な表現は、前記移動可能な要素の場所及び/又は姿勢を示す、
請求項31に記載のシステム。 - 前記移動可能な要素の前記場所又は姿勢は、前記移動可能な要素に移動可能に連結されたツールに対して測定される、
請求項33に記載のシステム。 - 前記移動可能な要素は、前記ツールの第1の位置と第2の位置との間で移動可能である、
請求項34に記載のシステム。 - 前記人工的な表現は、前記ユーザインターフェースディスプレイの前記ビデオ画像に重ねられる、
請求項31に記載のシステム。 - 前記プロセッサは、前記移動可能な要素の位置を検知するように適合されたセンサに連結される、
請求項31に記載のシステム。 - 前記移動可能な要素の動きを生じさせるように前記移動可能な要素に連結された機構をさらに有し、前記機構は、前記プロセッサが前記機構の変位から前記移動可能な要素の位置を決定できるように、前記プロセッサに連結される、
請求項31に記載のシステム。 - 材料をクランプするためのジョー及び前記ジョーに連結された切断要素を有する手術ツールであって、前記切断要素は切断前位置と切断完了位置との間で前記ジョーに対して移動可能であり、前記ジョーは前記材料の切断中に前記切断要素を見ることを妨げる、手術ツールと、
ユーザインターフェースディスプレイと、
前記ジョーの画像を含む視界を取得するための画像取得装置であって、前記画像取得装置は前記視界を表示するために前記ユーザインターフェースディスプレイに連結される、画像取得装置と、
前記手術ツールを前記ユーザインターフェースディスプレイと連結するプロセッサであって、前記プロセッサは、前記切断要素が前記手術ツールによって隠されるとき、前記切断要素の移動中及び/又は前記切断要素の移動後、前記ユーザインターフェースディスプレイに、前記切断要素の人工的な表現を重ねる、プロセッサと、を有し、
前記人工的な表現は、前記手術ツールの運動学的に調整された位置に基づいて前記手術ツールに対して表示される、
ロボットシステム。 - 前記システムは、体組織を切断するためのロボット手術システムを有し、
前記材料は体組織を有するとともに前記切断要素はナイフを有する、
請求項39に記載のシステム。 - 前記ナイフは、前記切断前位置から前記切断完了位置に移動するとき、前記ジョー内にクランプされた前記体組織を切断するように、前記ジョーに位置する、
請求項40に記載のシステム。 - 前記切断要素の前記人工的な表現は、前記ジョーに対する前記切断要素の場所をさらに示す、
請求項39に記載のシステム。 - 前記切断要素の前記人工的な表現は、前記切断要素の前記位置を示し、前記位置は、前記切断要素の場所及び姿勢のいずれか又は全てを含む、
請求項39に記載のシステム。 - 前記切断要素の前記人工的な表現は、前記ジョーの画像に重ねられる、
請求項43に記載のシステム。 - 前記プロセッサは、前記切断要素が前記切断前位置と前記切断完了位置との間の切断未完了位置にあるとき、前記切断要素が露出しているというユーザへの警告表示を表示し、前記警告表示は前記切断要素の前記人工的な表現から分離している、
請求項39に記載のシステム。
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KR102191950B1 (ko) * | 2011-02-15 | 2020-12-17 | 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 | 스테이플링 또는 혈관 실링 기구에서 나이프 위치에 대한 표시자 |
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US20210077202A1 (en) | 2021-03-18 |
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WO2012112250A1 (en) | 2012-08-23 |
KR20190094482A (ko) | 2019-08-13 |
EP3278744B1 (en) | 2021-10-20 |
US10194992B2 (en) | 2019-02-05 |
US20190151029A1 (en) | 2019-05-23 |
CN103370014A (zh) | 2013-10-23 |
JP2017127660A (ja) | 2017-07-27 |
US11813029B2 (en) | 2023-11-14 |
JP2014512862A (ja) | 2014-05-29 |
KR102143818B1 (ko) | 2020-08-13 |
EP2675366A1 (en) | 2013-12-25 |
CN103370014B (zh) | 2019-01-18 |
KR102191950B1 (ko) | 2020-12-17 |
US10881469B2 (en) | 2021-01-05 |
EP3278744A1 (en) | 2018-02-07 |
EP3954307B1 (en) | 2024-04-10 |
EP3954307A1 (en) | 2022-02-16 |
US20120209288A1 (en) | 2012-08-16 |
US20240016554A1 (en) | 2024-01-18 |
KR20130140811A (ko) | 2013-12-24 |
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