JP6342418B2 - 低侵襲外科手術のための外科手術用器具の保持及び位置決め装置及び/又は内視鏡及びロボット外科手術システム - Google Patents
低侵襲外科手術のための外科手術用器具の保持及び位置決め装置及び/又は内視鏡及びロボット外科手術システム Download PDFInfo
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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
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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
- A61B34/35—Surgical robots for telesurgery
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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
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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
- A61B90/10—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 for stereotaxic surgery, e.g. frame-based stereotaxis
- A61B90/11—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 for stereotaxic surgery, e.g. frame-based stereotaxis with guides for needles or instruments, e.g. arcuate slides or ball joints
-
- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J18/00—Arms
- B25J18/007—Arms the end effector rotating around a fixed point
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
-
- 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
- A61B2034/301—Surgical robots for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
-
- 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
- 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
Description
第1の回転軸を有し、保持要素が前記第1の回転軸周りに回転可能に設けられ、前記第1の回転軸は枢支点において少なくとも1つの外科手術用器具及び/又は内視鏡の長手方向軸に常に交差し、リニアアクチュエータが前記保持要素に取り付けられ、器具駆動ユニットがリニアアクチュエータにより前記枢支点周りに回転可能とされ、
さらに、前記器具駆動ユニット上に伸縮装置が設けられ、これにより、前記外科手術用器具及び/又は前記内視鏡は、ガイド装置により、その長手方向軸に沿って体内へ並進移動でき、前記外科手術用器具及び/又は前記内視鏡の前記長手方向軸は、伸縮装置に対して可変に調整可能である。
Claims (13)
- 低侵襲外科手術のための、ロボット外科手術システムとともに用いるための、器具の保持及び位置決め装置であって、
器具駆動ユニット(15)と、
前記器具駆動ユニット(15)により伸縮装置(8)に取り付けられた外科手術用器具(9,17a,17b)を備えた伸縮装置(8)であって、前記外科手術用器具(9;17a,17b)は、前記伸縮装置(8)により、ガイド装置(10,10s)を通って、前記外科手術用器具(9;17a,17b)の長手方向軸(11)に沿って体内へ並進移動できる、伸縮装置(8)と、
第1の回転軸(3)を有し、保持要素(4)が前記第1の回転軸(3)周りに回転可能に設けられ、前記第1の回転軸(3)は第1枢支点(13)において前記外科手術用器具(9;17a,17b)の前記長手方向軸(11)に常に交差する、第1駆動ユニット(1)と、を備え、
リニアアクチュエータ(5)が前記保持要素(4)に取り付けられ、前記伸縮装置(8)が連結継手として形成された連結装置(7)上に配置され、前記リニアアクチュエータ(5)が枢支点として形成されたリニアアクチュエータ位置決め点(55)において前記連結装置(7)へ動力を伝達するように形成され、
前記器具駆動ユニット(15)は器具枢支点(56)により前記伸縮装置(8)上に回転可能に取り付けられ、前記連結装置(7)は、前記保持要素(4)に対して不動に配置された連結点(6)を有し、前記連結点(6)は、前記第1の回転軸(3)に直交し前記第1の回転軸(3)から間隔をあけた第2の回転軸を画定し、前記リニアアクチュエータ(5)を介した前記連結装置(7)への動力の伝達により前記第2の回転軸周りの前記連結装置(7)の回転が実現され得、前記外科手術用器具(9;17a,17b)の前記長手方向軸(11)は前記リニアアクチュエータ(5)に依存して前記伸縮装置(8)の伸縮長手方向軸(58)に対して可変に調整可能であり、前記器具駆動ユニット(15)は前記第1枢支点(13)を通り前記第1の回転軸(3)に直交する軸周りに回転可能である、保持及び位置決め装置。 - 前記伸縮装置(8)は、いくつかの伸縮要素(8u,8v,8w)を有し、前記伸縮長手方向軸(58)は、最も伸縮調整性の大きい伸縮要素(8w)上に配置される、請求項1に記載の保持及び位置決め装置。
- 前記ガイド装置(10,10s)は、少なくとも1つの器具ガイド(10s)を有し、前記外科手術用器具(9;17a,17b)のシャフトが前記器具ガイド(10s)を通って延びる、請求項1又は2に記載の保持及び位置決め装置。
- 前記器具駆動ユニット(15)は、前記外科手術用器具(9;17a,17b)をいくつかの自由度で動かし、前記器具駆動ユニット(15)は、前記保持要素(4)及び前記リニアアクチュエータ(5)を通って案内される制御及び供給線により制御ユニット(46)を介して、外科医により制御される、請求項1〜3のいずれかに記載の保持及び位置決め装置。
- 前記第1の回転軸(3)は、ロボットアームに取り付けられ得る前記第1駆動ユニット(1)が設けられることにより形成され、前記第1駆動ユニット(1)と前記保持要素(4)との間にピボット継手(2)が設けられる、請求項1〜4のいずれかに記載の保持及び位置決め装置。
- 連結要素(12)が前記保持要素(4)に取り付けられ、前記連結要素(12)は前記第1枢支点(13)において前記器具ガイド(10s)の遠位端に回転可能に接続される、請求項3に記載の保持及び位置決め装置。
- いくつかの外科手術用器具(17a,17b)が1つのトロカール(18)を通って体内へ案内され、別個の器具駆動ユニット(15a,15b)が各外科手術用器具(17a,17b)用に設けられる、請求項1〜6のいずれかに記載の保持及び位置決め装置。
- 前記保持要素(4)及び/又は前記第1駆動ユニット(1)は、予備位置決め装置によりその開始位置に合わせられ、予備位置決め装置は、1以上の予備位置決め要素(30,32,34,37)を有し、予備位置決め要素(30,32,34,37)は、いずれの場合にも少なくとも1つの回転軸を介したそれらの位置についてプリセットされることができる、請求項1〜7のいずれかに記載の保持及び位置決め装置。
- 器具ガイド装置(90)が前記伸縮装置(8)に取り付けられ、これにより前記外科手術用器具(9)が長手延在方向に対する横断面内で案内される、請求項1〜8のいずれかに記載の保持及び位置決め装置。
- 少なくとも2つの保持及び位置決め装置が、前記保持及び位置決め装置に対して実質的に横に延びる保持支持システム(19,20,21,22,23,24)に取り付けられ、前記保持支持システム(19,20,21,22,23,24)は、いずれの場合にも各保持及び位置決め装置のための連結点(22a−d)で構成され、いずれの場合にも前記連結点(22a−d)は堅く又は継手(23,24)を介してのどちらかで互いに接続される、請求項1〜9のいずれかに記載のいくつかの保持及び位置決め装置を有するロボット外科手術システム。
- 前記保持支持システム(19,20,21,22,23,24)は、連結支持接続部(19)により、可動に配置された、又は、固定された又は可動な手術台(48)に対して予め配置された固定支持部(42)に対して支持するための実質的に垂直に延びる主支持装置(39,40)に接続される、請求項10に記載のロボット外科手術システム。
- 制御ユニット(46)が設けられ、前記制御ユニット(46)は、対応する外科手術用器具(9;17a,17b)及び/又は内視鏡(9;17a,17b)を有する各保持及び位置決め装置に接続され、且つ、外科医の制御データの形のコマンドの入力のための操作ユニット(44)に連結され、操作ユニットは、可視化ユニット(53)により、1以上の内視鏡(9;17a,17b)からの画像データを表示する、請求項10又は11に記載のロボット外科手術システム。
- 前記制御ユニット(46)及び前記操作ユニット(44)は、可動手術台(48)に連結され、前記画像データ及び前記制御データの両方は、前記保持及び位置決め装置及び前記手術台(48)の所定の位置に基づいて処理される、請求項12に記載のロボット外科手術システム。
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DE102012025099.1 | 2012-12-20 | ||
DE102012025099 | 2012-12-20 | ||
DE102013004459.6 | 2013-03-14 | ||
DE102013004459.6A DE102013004459A1 (de) | 2012-12-20 | 2013-03-14 | Halterungs- und Positioniervorrichtung eines chirurgischen Instruments und/oder eines Endoskops für die minimal-invasive Chirurgie sowie ein chirurgisches Robotersystem |
PCT/DE2013/000803 WO2014094716A1 (de) | 2012-12-20 | 2013-12-12 | Halterungs- und positioniervorrichtung eines chirurgischen instruments und/oder eines endoskops für die minimal-invasive chirurgie sowie ein chirurgisches robotersystem |
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JP2016503678A JP2016503678A (ja) | 2016-02-08 |
JP2016503678A5 JP2016503678A5 (ja) | 2017-02-02 |
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BR (1) | BR112015014298B1 (ja) |
DE (1) | DE102013004459A1 (ja) |
HK (1) | HK1211822A1 (ja) |
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RU2015129335A (ru) | 2017-01-24 |
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JP2016503678A (ja) | 2016-02-08 |
EP2934361B1 (de) | 2018-09-26 |
WO2014094716A1 (de) | 2014-06-26 |
EP2934361A1 (de) | 2015-10-28 |
CN104869935A (zh) | 2015-08-26 |
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