JP6479790B2 - ロボット外科的デバイス、システムおよび関連する方法 - Google Patents
ロボット外科的デバイス、システムおよび関連する方法 Download PDFInfo
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- JP6479790B2 JP6479790B2 JP2016527105A JP2016527105A JP6479790B2 JP 6479790 B2 JP6479790 B2 JP 6479790B2 JP 2016527105 A JP2016527105 A JP 2016527105A JP 2016527105 A JP2016527105 A JP 2016527105A JP 6479790 B2 JP6479790 B2 JP 6479790B2
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Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/02—Surgical instruments, devices or methods, e.g. tourniquets for holding wounds open; Tractors
- A61B17/0218—Surgical instruments, devices or methods, e.g. tourniquets for holding wounds open; Tractors for minimally invasive surgery
-
- 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
- A61B1/00112—Connection or coupling means
- A61B1/00121—Connectors, fasteners and adapters, e.g. on the endoscope handle
- A61B1/00128—Connectors, fasteners and adapters, e.g. on the endoscope handle mechanical, e.g. for tubes or pipes
-
- 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
- A61B1/00131—Accessories for endoscopes
- A61B1/00135—Oversleeves mounted on the endoscope prior to insertion
-
- 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
- A61B1/00147—Holding or positioning arrangements
- A61B1/00154—Holding or positioning arrangements using guiding arrangements for insertion
-
- 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
- A61B1/005—Flexible endoscopes
- A61B1/0051—Flexible endoscopes with controlled bending of insertion part
- A61B1/0055—Constructional details of insertion parts, e.g. vertebral elements
-
- 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
- A61B1/005—Flexible endoscopes
- A61B1/0051—Flexible endoscopes with controlled bending of insertion part
- A61B1/0057—Constructional details of force transmission elements, e.g. control wires
-
- 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
-
- 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
- A61B46/00—Surgical drapes
- A61B46/10—Surgical drapes specially adapted for instruments, e.g. microscopes
-
- 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
- A61B90/36—Image-producing devices or illumination devices not otherwise provided for
- A61B90/361—Image-producing devices, e.g. surgical cameras
Description
本出願は、2013年7月17日に出願され、Robotic Surgical Devices,Systems,and Related Methodsと題された、米国仮出願61/847,394に対して、第35巻第119条(e)の下での利益を主張し、それはその全体で参照により本明細書中に援用される。
Claims (11)
- ロボット外科的システムであって、以下を備える:
(a)以下を備える、ハウジングを備える単一のデバイス本体:
(i)遠位端;
(ii)近位端、
(iii)カメラルーメン、ここで、前記カメラルーメンは、前記デバイス本体の前記近位端に近位ルーメン開口部を備え、前記デバイス本体の前記遠位端に遠位ルーメン開口部を備えるように、前記デバイス本体内に規定される;および
(iv)前記ハウジング内に配置された複数のアクチュエーター;
(b)前記デバイス本体の遠位表面に操作可能に取り付けられ、かつ、前記複数のアクチュエーターと操作可能に統合された、第一および第二の肩関節;
(c)前記の第一の肩関節に枢動可能に取り付けられた、第一のロボットアーム、ここで、前記第一のロボットアームは、以下:
(i)第一のアームの第一の連結リンク;
(ii)第一のアームの上腕;
(iii)第一のアームの第二の連結リンク;および
(iv)第一のアームの前膊
を備え、ここで、前記第一のアームは6自由度を有し;
(d)前記の第二の肩関節に枢動可能に取り付けられた、第二のロボットアーム、ここで、前記第二のロボットアームは、以下:
(i)第二のアームの第一の連結リンク;
(ii)第二のアームの上腕;
(iii)第二のアームの第二の連結リンク;および
(iv)第二のアームの前膊
を備え、ここで、前記第二のアームは6自由度を有し;
(e)以下を含むカメラコンポーネント:
(i)ハンドル;
(ii)前記ハンドルに操作可能に連結された、細長いチューブ、ここで、前記の細長いチューブは、前記デバイス本体内に規定される前記カメラルーメンを通して配置可能な構成およびサイズであり、前記の細長いチューブは以下を含む:
(A)剛体部分;
(B)光学部分;および、
(C)前記光学部分を前記剛体部分に操作可能に連結する、柔軟部分、
ここで、前記の細長いチューブは、前記カメラコンポーネントが前記カメラルーメンを通して配置される場合に、前記光学部分が前記の遠位ルーメン開口部から遠位に伸びるように構成されるような長さを有する、
ロボット外科的システム。 - 請求項1のロボット外科的システムであって、
前記ハンドルは、前記カメラコンポーネントを操作するように構成される、
ロボット外科的システム。 - 請求項1のロボット外科的システムであって、
前記の遠位ルーメン開口部は、前記の第一の肩関節と第二の肩関節との間に配置される、
ロボット外科的システム。 - 請求項1のロボット外科的システムであって、
前記光学部分は、前記剛体部分に対して前記柔軟部分で傾斜可能なように構成され、
ここで、前記光学部分は、直線構造および傾斜構造を有する、
ロボット外科的システム。 - 請求項1のロボット外科的システムであって、
前記の細長いチューブは、前記ハンドルに対して回転可能なように構成される、
ロボット外科的システム。 - ロボット外科的システムであって、以下を備える:
(a)ハウジングを備える、以下を備える単一のデバイス本体:
(i)前記ハウジング内に配置された第一および第二のアクチュエーター;
(ii)前記デバイス本体の近位部に置かれたレセプタクル;および、
(iii)カメラルーメン、ここで、前記カメラルーメンは、前記レセプタクルに近位ルーメン開口部を備え、前記デバイス本体の遠位部に規定される遠位ルーメン開口部を備えるように、前記デバイス本体内に規定される;
(b)前記デバイス本体の前記遠位部に操作可能に取り付けられ、かつ、前記第一および第二のアクチュエーターとそれぞれ操作可能に連絡した、第一および第二の肩関節;
(c)前記の第一の肩関節に枢動可能に取り付けられた、第一のロボットアーム、ここで、前記第一のロボットアームは、以下:
(i)第一のアームの第一の連結リンク;
(ii)第一のアームの上腕;
(iii)第一のアームの第二の連結リンク;および
(iv)第一のアームの前膊
を備え、ここで、前記第一のアームは6自由度を有し;
(d)前記の第二の肩関節に枢動可能に取り付けられた、第二のロボットアーム、ここで、前記第二のロボットアームは、以下:
(i)第二のアームの第一の連結リンク;
(ii)第二のアームの上腕;
(iii)第二のアームの第二の連結リンク;および
(iv)第二のアームの前膊
を備え、ここで、前記第二のアームは6自由度を有し;および、
(e)以下を備えるカメラシステム:
(i)前記レセプタクル内で対になるように(mateably)配置可能なように構成された、システム本体;
(ii)前記システム本体に操作可能に連結された、細長いチューブ、ここで、前記の細長いチューブは、前記デバイス本体内に規定される前記カメラルーメンを通して配置可能な構成およびサイズである、
ここで、前記の細長いチューブは、前記システム本体が前記レセプタクル内に配置される場合に、前記の細長いチューブの一部が前記の遠位ルーメン開口部から遠位に伸びるように構成されるような長さを有する、
ロボット外科的システム。 - 請求項6のロボット外科的システムであって、
前記の細長いチューブは:
(a)実質上剛体部分;
(b)光学部分;および、
(c)前記光学部分を前記剛体部分に操作可能に連結する、柔軟部分、
ここで、前記光学部分は、前記剛体部分に対して前記柔軟部分で傾斜可能なように構成され、前記光学部分は、直線構造および傾斜構造を有する
をさらに含む、
ロボット外科的システム。 - 請求項6のロボット外科的システムであって、
前記の遠位ルーメン開口部は、前記の第一の肩関節と第二の肩関節との間に配置される、
ロボット外科的システム。 - 請求項6のロボット外科的システムであって、
前記の細長いチューブは、前記システム本体に対して回転可能なように構成される、
ロボット外科的システム。 - 請求項6のロボット外科的システムであって、
前記デバイス本体に操作可能に連結された配置ロッドをさらに備える、
ロボット外科的システム。 - 請求項10のロボット外科的システムであって、
前記配置ロッドは、前記配置ロッドに操作可能に連結されたハンドルをさらに備える、
ロボット外科的システム。
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US201361847394P | 2013-07-17 | 2013-07-17 | |
US61/847,394 | 2013-07-17 | ||
PCT/US2014/047062 WO2015009949A2 (en) | 2013-07-17 | 2014-07-17 | Robotic surgical devices, systems and related methods |
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JP2019019407A Division JP6831057B2 (ja) | 2013-07-17 | 2019-02-06 | ロボット外科的デバイス、システムおよび関連する方法 |
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JP2016529961A JP2016529961A (ja) | 2016-09-29 |
JP6479790B2 true JP6479790B2 (ja) | 2019-03-06 |
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JP2019019407A Active JP6831057B2 (ja) | 2013-07-17 | 2019-02-06 | ロボット外科的デバイス、システムおよび関連する方法 |
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EP (1) | EP3021779A4 (ja) |
JP (2) | JP6479790B2 (ja) |
CA (1) | CA2918531A1 (ja) |
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WO2015009949A9 (en) | 2015-04-02 |
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WO2015009949A2 (en) | 2015-01-22 |
JP2019088867A (ja) | 2019-06-13 |
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