JP6433481B2 - ロボット手術システム内のツールの相互使用可能な切換え - Google Patents
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Description
本出願は2013年3月15日に出願された米国仮出願第61/793,227号の35USC119(e)の下の利益を主張する。全ての目的のために、その全開示をここに参照として援用する。
Claims (15)
- 遠隔ロボットシステムの作動方法であって、
前記遠隔ロボットシステムの第1のマニピュレータに接続される第1のツールが、複数の第1のコネクタ要素を用いて前記第1のマニピュレータに接続されるよう、前記遠隔ロボットシステムのコントローラが、前記第1のツールを制御するステップと、
前記第1のツールが前記第1のマニピュレータに接続されている間に、前記コントローラが、前記複数の第1のコネクタ要素と前記コントローラの複数のインターフェース要素との間の第1のマッピングを用いて前記第1のツールの自由度を制御するよう、ハードウェアマッピングユニットが、前記第1のマッピングを実施するステップと、
前記遠隔ロボットシステムの第2のマニピュレータに接続される第2のツールが、複数の第2のコネクタ要素を用いて前記第2のマニピュレータに接続されるよう、前記コントローラが、前記第2のツールの自由度を制御するステップと、
前記第2のツールが前記第2のマニピュレータに接続されている間に、前記コントローラが、前記複数の第2のコネクタ要素と前記コントローラの前記複数のインターフェース要素との間の第2のマッピングを用いて前記第2のツールの前記自由度を制御するよう、前記ハードウェアマッピングユニットが、前記第2のマッピングを実施するステップと、
前記コントローラが、前記第1のツールが前記複数の第1のコネクタ要素を用いて前記第2のマニピュレータに接続され、前記第2のツールが前記複数の第2のコネクタ要素を用いて前記第1のマニピュレータに接続されるような、前記第1及び第2のツールのスワップを検出するステップと、
前記ハードウェアマッピングユニットが、前記複数の第1のコネクタ要素と前記コントローラの前記複数のインターフェース要素との間の第3のマッピングを実施するステップと、
前記ハードウェアマッピングユニットが、前記複数の第2のコネクタ要素と前記コントローラの前記複数のインターフェース要素との間の第4のマッピングを実施するステップと、
前記コントローラが、前記第4のマッピングを用いて前記第2のマニピュレータに接続される前記第1のツールの前記自由度と前記第3のマッピングを用いて前記第1のマニピュレータに接続される前記第2のツールの前記自由度とを制御するステップとを含む、
作動方法。 - 前記第1のツールは、画像化装置であり、前記第2のツールは、器具である、請求項1に記載の作動方法。
- 前記第1及び第2のツールのスワップ後、ユーザへの表示のために前記画像化装置から受信される画像のために用いられる座標基準フレームが、前記第1のマニピュレータの運動学に基づく第1の座標基準フレームから前記第2のマニピュレータの運動学に基づく第2の座標基準フレームに変わる、請求項2に記載の作動方法。
- 前記スワップを検出することに先立って前記器具を制御することは、前記器具の制御座標系を前記画像化装置の制御座標系に対して動かすことを含み、前記スワップを検出することの後に、前記画像化装置を制御することは、前記画像化装置の制御座標系を任意的な基準座標系に対して動かすことを含む、請求項2に記載の作動方法。
- 前記コントローラは、関節コントローラであり、或いは、前記第1のツール及び前記第2のツールは、同じソフトウェアカーネルを用いて制御される、請求項1乃至4のうちのいずれか1項に記載の作動方法。
- 患者に対して最小侵襲的な手術を行う遠隔手術システムであって、
複数のロボットマニピュレータと、
コントローラとを含み、
各ロボットマニピュレータは、画像化装置と手術器具とを含む複数のツールのうちの1つを受け入れるように動作可能であり、
前記コントローラは、
前記ロボットマニピュレータの第1のマニピュレータに接続される画像化装置と前記ロボットマニピュレータの第2のマニピュレータに接続される手術器具とを制御し、
前記画像化装置が前記第2のマニピュレータに接続されて、前記手術器具が前記第1のマニピュレータに接続されるような、前記画像化装置と前記手術器具とのスワップを検出し、
該スワップの検出に基づき、前記画像化装置から受信される画像についての基準座標フレームを、前記第1のマニピュレータの運動学に基づく第1の基準座標フレームから、前記第2のマニピュレータの運動学に基づく第2の基準座標フレームに変更し、且つ
前記第2のマニピュレータに接続される前記画像化装置と前記第1のマニピュレータに接続される前記手術器具とを制御するよう、
動作可能である、
遠隔手術システム。 - ディスプレイ要素を含む外科医コンソールを更に含み、
前記画像は、前記基準座標フレームに基づき前記ディスプレイ要素に表示される、
請求項6に記載の遠隔手術システム。 - 前記スワップを検出することに先立って前記手術器具を制御するように動作可能であることは、前記手術器具の制御座標系を前記画像化装置の制御座標系に対して動かすように動作可能であることを含み、前記スワップを検出することの後に前記画像化装置を制御するように動作可能であることは、前記画像化装置の制御座標系を任意的な基準座標系に対して動かすように動作可能であることを含む、請求項6に記載の遠隔手術システム。
- 信号を前記第1のマニピュレータと通信するように動作可能な複数のコネクタ要素を更に含み、
前記複数のコネクタ要素と前記コントローラに連結される複数のインターフェース要素との間のマッピングを変更するように動作可能なハードウェアマッピングユニットを更に含み、
前記マッピングは、前記画像化装置に特異な前記複数のコネクタ要素と前記複数のインターフェース要素との間の関係を定める第1のマップから前記手術器具に特異な前記複数のコネクタ要素と前記複数のインターフェース要素との間の関係を定める第2のマップに変更される、
請求項6に記載の遠隔手術システム。 - 前記コントローラは、前記画像化装置及び前記手術器具の両方を制御するように動作可能なカーネルを含む、請求項6に記載の遠隔手術システム。
- 前記第1のマニピュレータ及び前記第2のマニピュレータは、各々、前記第1のマニピュレータ及び前記第2のマニピュレータの各々を前記画像化装置及び前記手術器具の両方に独立的に機械的に接続するように構成される機械的インターフェースを含み、或いは、
前記第1のマニピュレータ及び前記第2のマニピュレータは、各々、前記第1のマニピュレータ及び前記第2のマニピュレータの各々を前記画像化装置及び前記手術器具の両方に独立的に電気的に接続するように構成される電気的インターフェースを含む、
請求項6乃至10のうちのいずれか1項に記載の遠隔手術システム。 - 遠隔ロボットシステムの作動方法であって、
コントローラが、第1のツールが、複数のコネクタ要素を用いて前記遠隔ロボットシステムのマニピュレータに接続されているか否かを、決定するステップと、
前記コントローラが、前記第1のツールが前記マニピュレータに接続されていることが決定されるときに、前記第1のツールのための第1のマッピングを取得するステップであって、該第1のマッピングは、前記複数のコネクタ要素と前記コントローラの複数のインターフェース要素との間のマッピングを含む、ステップと、
ハードウェアマッピングユニットが、前記第1のマッピングを実施するステップと、
前記コントローラが、前記第1のマッピングを用いて前記第1のツールの自由度を制御するステップと、
前記コントローラが、前記第1のツールが前記マニピュレータから取り外されて、第2のツールが前記マニピュレータに接続されているか否かを、決定するステップと、
前記コントローラが、前記第1のツールが前記マニピュレータから取り外されて、前記第2のツールが前記マニピュレータに接続されていることが決定されるときに、前記第2のツールのための第2のマッピングを取得するステップと、
前記ハードウェアマッピングユニットが、前記第2のマッピングを実施するステップと、
前記コントローラが、前記第2のマッピングを用いて前記第2のツールの自由度を制御するステップとを含む、
作動方法。 - 前記第1のツールは、画像化装置であり、前記第2のツールは、器具である、請求項12に記載の作動方法。
- 前記第1のツールのための前記第1のマッピングを取得することは、前記第1のツールから前記第1のマッピングを受信することを含み、或いは、前記第1のツールのための前記第1のマッピングを取得することは、前記第1のツールの外部の記憶要素から前記第1のマッピングを受信することを含む、請求項12に記載の作動方法。
- 前記コントローラは、関節コントローラである、請求項13又は14に記載の作動方法。
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US201361793227P | 2013-03-15 | 2013-03-15 | |
US61/793,227 | 2013-03-15 | ||
PCT/US2014/031044 WO2014146090A1 (en) | 2013-03-15 | 2014-03-18 | Inter-operative switching of tools in a robotic surgical system |
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JP2018208816A Division JP6782750B2 (ja) | 2013-03-15 | 2018-11-06 | ロボット手術システム内のツールの相互使用可能な切換え |
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US10149729B2 (en) | 2018-12-11 |
US20230301736A1 (en) | 2023-09-28 |
KR20210096307A (ko) | 2021-08-04 |
US20140276950A1 (en) | 2014-09-18 |
JP2019048108A (ja) | 2019-03-28 |
KR102540134B1 (ko) | 2023-06-07 |
JP2016518878A (ja) | 2016-06-30 |
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KR20220104836A (ko) | 2022-07-26 |
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US20200360099A1 (en) | 2020-11-19 |
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US20190083185A1 (en) | 2019-03-21 |
CN105050528B (zh) | 2019-04-19 |
US9504527B2 (en) | 2016-11-29 |
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