JP6499320B2 - 最小侵襲性切断器具操作のためのシステム及び方法 - Google Patents
最小侵襲性切断器具操作のためのシステム及び方法 Download PDFInfo
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Description
この特許出願は、2015年5月15日に出願された「SYSTEM AND METHOD FOR MINIMALLY INVASIVE CUTTING INSTRUMENT OPERATION」という名称の米国仮特許出願第62/162,217号の優先権及び利益を主張し、その全文を本明細書中に参照として援用する。
Claims (15)
- コンピュータ支援デバイスと共に用いる切断器具であって、
駆動ユニットと、
当該切断器具の遠位端に配置されるエンドエフェクタであって、対向する把持ジョーと切断ブレードとを含むエンドエフェクタと、
前記駆動ユニットと前記エンドエフェクタとの間のシャフトであって、前記駆動ユニットからの力又はトルクを前記エンドエフェクタに結合するための1つ又はそれよりも多くの駆動機構を収容するシャフトと、
前記切断ブレードが使用されていないときに前記切断ブレードを収容するガレージとを含み、
切断操作を実行するために、当該切断器具は、
前記切断ブレードを第1の位置から第2の位置まで延伸させ、
前記切断ブレードを前記第2の位置から前記第1の位置と前記第2の位置との間の第3の位置まで後退させ、且つ
前記切断ブレードを前記第1の位置まで更に後退させる
ように構成され、
前記切断ブレードが使用されていない間に、前記切断ブレードは、前記駆動ユニット内の拘束機構を用いて、モータ又は他の能動アクチュエータによって前記駆動ユニットに適用される力又はトルクを用いて、或いは前記拘束機構及び前記モータ又は他の能動アクチュエータによって前記駆動ユニットに適用される前記力又はトルクの両方を用いて、前記第1の位置に維持される、
切断器具。 - 前記拘束機構は、バネである、請求項1に記載の切断器具。
- 前記エンドエフェクタを前記シャフトに連結する関節作動リストを更に含む、請求項1に記載の切断器具。
- 前記第1の位置は、前記関節作動リスト内のあらゆる屈曲を補償するように選択される、請求項3に記載の切断器具。
- 前記把持ジョーのうちの1つ又はそれよりも多くは、前記延伸及び前記後退中に前記切断ブレードを案内するのを助ける溝を含む、請求項1に記載の切断器具。
- 前記第1の位置は、前記ガレージ内にある、請求項1に記載の切断器具。
- 前記第3の位置は、前記切断ブレードが前記ガレージのすぐ外側まで後退させられる位置に対応する、請求項6に記載の切断器具。
- 当該切断器具は、前記切断ブレードを前記第3の位置まで後退させる前に前記切断ブレードを前記第2の位置に保持するように更に構成される、請求項1に記載の切断器具。
- 前記切断ブレードが延伸させられるときに前記駆動ユニットを駆動させる前記モータ又は能動アクチュエータのための力又はトルク限界は、前記切断ブレードが延伸状態に保持されるときの前記力又はトルク限界と同じである、請求項8に記載の切断器具。
- 前記切断操作の間に、前記切断ブレードは、位置プロファイルに従うように命令され、該位置プロファイルは、前記第1の位置、前記第2の位置、及び前記第3の位置の間に前記切断ブレードのための滑らかな軌跡を描く所望の位置の時間シーケンスを含む、請求項1に記載の切断器具。
- 力又はトルク限界が、前記駆動ユニットを駆動させる前記モータ又は能動アクチュエータのために強化される、請求項1に記載の切断器具。
- 前記切断ブレードが前記第1の位置に維持されるときの前記力又はトルク限界の大きさは、前記切断ブレードが延伸させられている或いは後退させられている間の前記力又はトルク限界の大きさよりも小さい、請求項11に記載の切断器具。
- 前記切断ブレードが前記第3の位置まで後退させられているときの前記力又はトルク限界は、前記切断ブレードが前記第1の位置まで更に後退させられるときの前記力又はトルク限界と同じである、請求項11に記載の切断器具。
- 前記切断ブレードが延伸させられているときの前記力又はトルク限界の第1の大きさは、前記切断ブレードが後退させられている並びに更に後退させられているときの前記力又はトルク限界の第2の大きさよりも大きい、請求項11に記載の切断器具。
- 前記第1の大きさと前記第2の大きさとの間の差は、前記拘束機構によって適用される力又はトルクに基づく、請求項14に記載の切断器具。
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US201562162217P | 2015-05-15 | 2015-05-15 | |
US62/162,217 | 2015-05-15 | ||
PCT/US2016/032351 WO2016187006A1 (en) | 2015-05-15 | 2016-05-13 | System and method for minimally invasive cutting instrument operation |
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JP2019047519A Division JP7079217B2 (ja) | 2015-05-15 | 2019-03-14 | 最小侵襲性切断器具操作のためのシステム及び方法 |
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JP2018519010A JP2018519010A (ja) | 2018-07-19 |
JP6499320B2 true JP6499320B2 (ja) | 2019-04-10 |
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JP2017558395A Active JP6499320B2 (ja) | 2015-05-15 | 2016-05-13 | 最小侵襲性切断器具操作のためのシステム及び方法 |
JP2019047519A Active JP7079217B2 (ja) | 2015-05-15 | 2019-03-14 | 最小侵襲性切断器具操作のためのシステム及び方法 |
JP2021020619A Active JP7022231B2 (ja) | 2015-05-15 | 2021-02-12 | 最小侵襲性切断器具操作のためのシステム及び方法 |
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JP2021020619A Active JP7022231B2 (ja) | 2015-05-15 | 2021-02-12 | 最小侵襲性切断器具操作のためのシステム及び方法 |
Country Status (6)
Country | Link |
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US (3) | US10874465B2 (ja) |
EP (2) | EP3294186B1 (ja) |
JP (3) | JP6499320B2 (ja) |
KR (2) | KR102077076B1 (ja) |
CN (2) | CN112353490A (ja) |
WO (1) | WO2016187006A1 (ja) |
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