JP6581973B2 - 針の挿入及び操縦のためのシステム - Google Patents
針の挿入及び操縦のためのシステム Download PDFInfo
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- JP6581973B2 JP6581973B2 JP2016521283A JP2016521283A JP6581973B2 JP 6581973 B2 JP6581973 B2 JP 6581973B2 JP 2016521283 A JP2016521283 A JP 2016521283A JP 2016521283 A JP2016521283 A JP 2016521283A JP 6581973 B2 JP6581973 B2 JP 6581973B2
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- Prior art keywords
- needle
- patient
- robot
- platform
- robot platform
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Classifications
-
- 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
- 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
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/34—Trocars; Puncturing needles
- A61B17/3403—Needle locating or guiding means
- A61B2017/3405—Needle locating or guiding means using mechanical guide means
- A61B2017/3409—Needle locating or guiding means using mechanical guide means including needle or instrument drives
-
- 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
- A61B2034/304—Surgical robots including a freely orientable platform, e.g. so called 'Stewart platforms'
-
- 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
- A61B90/37—Surgical systems with images on a monitor during operation
- A61B2090/374—NMR or MRI
-
- 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
- A61B90/37—Surgical systems with images on a monitor during operation
- A61B2090/376—Surgical systems with images on a monitor during operation using X-rays, e.g. fluoroscopy
- A61B2090/3762—Surgical systems with images on a monitor during operation using X-rays, e.g. fluoroscopy using computed tomography systems [CT]
-
- 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
- A61B90/37—Surgical systems with images on a monitor during operation
Description
(i)優しい力を加えることによってロボット針マニピュレーターを患者の体表面に付けるため、及び、
(ii)リアルタイムでロボットの位置を追跡するため
の1つ以上であり得る。
(i)針に所望の姿勢を与える複数の自由度を有するロボットプラットフォームと、
(ii)ロボットプラットフォームに取り付けられたニードルグリッパーであって、針に対してその長手方向に運動を与えるように作動されるニードルグリッパーと
を含み、
前記ニードルグリッパーは針の基部に対して遠位で針の軸を把持するシステムが提供される。
(i)患者に針を位置合わせし且つ挿入するためのロボットプラットフォームと、
(ii)患者への針の挿入位置の近くでロボットプラットフォームを位置合わせするための支持アームと、
(iii)針の挿入位置の近くで患者の体の動きを検出するためのセンサーシステムと
を含み、
前記センサーシステムは、検出された患者の体の動きと協調した針の挿入のために、ロボットプラットフォームのためのコマンドを提供するシステムが更に提供される。
(i)針をその所望の姿勢に位置合わせするために複数の自由度を有するロボットのプラットフォームを設けることと、
(ii)ロボットプラットフォームに取り付けるためのニードルグリッパーを設けることと、
(iii)針の基部から遠位で針の軸を把持するのにニードルグリッパーを使用することと、
(iv)針に対してその長手方向に運動を与えるためにニードルグリッパーを作動させることと
を含む方法を行う。
(i)患者に挿入するために針を位置合わせするためのロボットプラットフォームを設けることと、
(ii)患者への針の挿入位置の近くでロボットプラットフォームを位置合わせするための支持アームを設けることと、
(iii)針の挿入位置の近くで患者の体の動きを検出することと、
(iv)検出された患者の体の動きと協調して針を挿入することができるように、ロボットプラットフォームのためのコマンドを提供するのに検出された体の動きを使用することと
を含むことができる。
Claims (15)
- 患者に針(31)を挿入するため及び前記患者の軟部組織内で前記針を操縦するためのシステムであって、
前記針に所望の姿勢を与える複数の自由度を有するロボットプラットフォーム(11)と、
前記ロボットプラットフォームに取り付けられるように且つ前記針の軸をその遠位端で把持するように構成されているニードルグリッパー(71)であって、前記針に対して前記針の長手方向に運動を与えるために作動されるように構成されているニードルグリッパーと
を含み、
前記針(31)が皮膚を貫通した後に患者の体内で動かされているときに前記患者の軟部組織内での前記針(31)の配向角を調整するべく前記ロボットプラットフォームが構成されるように、前記ロボットプラットフォーム(11)及び前記ニードルグリッパー(71)は協調して作動されるように構成され、
前記ロボットプラットフォーム(11)は、セミアクティブ支持アーム(13)を介してベース要素(12)に連結するように構成されている、システム。 - 前記ニードルグリッパー(71)は、ローラーの協調的な回転が前記針を前記長手方向に移動させるように、前記針(31)の両側に少なくとも1対のローラー(51)を含む、請求項1に記載のシステム。
- 前記針をその軸線回りに回転させるように構成されている針回転機構(54)を更に含む、請求項1又は2に記載のシステム。
- 前記ニードルグリッパー(71)は、前記針が長手方向に自由に移動することを可能にするために、前記針(31)に対するその把持の解除を可能にするように適合されている、請求項1から3のいずれか1項に記載のシステム。
- 前記ロボットプラットフォーム(11)は被作動プラットフォーム(32)とベースプレート(41)とを含み、前記ベースプレートは前記患者の皮膚に位置するように構成されている、請求項1から4のいずれか1項に記載のシステム。
- 前記ロボットプラットフォーム(11)は、パラレル、シリアル及びハイブリッドのロボットプラットフォームのいずれかである、請求項1から5のいずれか1項に記載のシステム。
- 前記セミアクティブ支持アーム(13)は、前記ロボットプラットフォームが前記患者の体と接触したままであるように前記ロボットプラットフォーム(11)に圧力をかけるように構成されている、請求項1から6のいずれか1項に記載のシステム。
- 前記セミアクティブ支持アーム(13)は、前記ロボットプラットフォーム(11)が前記患者の体の動きと共に自由に動くように、その動きが前記患者の体の表面に対して垂直な方向において実質的に拘束されないように構成されている、請求項1から7のいずれか1項に記載のシステム。
- 前記セミアクティブ支持アーム(13)は、前記ロボットプラットフォーム(11)を前記患者の体の所定の位置に拘束するように構成されている、請求項1から8のいずれか1項に記載のシステム。
- 前記患者の体の動きを検出するように構成されているセンサーシステムを更に含む、請求項1から9のいずれか1項に記載のシステム。
- 前記センサーシステムは、検出された前記患者の体の動きと協調した前記針の挿入のために、前記ロボットプラットフォームのためのコマンドを提供する、請求項10に記載のシステム。
- 前記患者の体の動きは呼吸に関連した動きである、請求項10又は11に記載のシステム。
- 前記セミアクティブ支持アーム(13)は、アーチ形支持アーム(21)を介して前記ベース要素(12)に連結されるように構成されている、請求項1から12のいずれか1項に記載のシステム。
- 前記ロボットプラットフォームは、前記針の前記所望の姿勢を達成するために前記被作動プラットフォーム(32)を前記ベースプレート(41)に対して適切に位置決め及び配向することによって前記針を空間内で位置決め及び配向するように適合されている、請求項5に記載のシステム。
- 前記ロボットプラットフォーム(11)の前記複数の自由度及び前記針(31)の軸のその遠位端における前記把持は、前記システムの作業空間が平坦又は平面的であり且つ前記針(31)の長さに依存しないようなものである、請求項1から14のいずれか1項に記載のシステム。
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US201361887654P | 2013-10-07 | 2013-10-07 | |
US61/887,654 | 2013-10-07 | ||
PCT/IL2014/050891 WO2015052719A1 (en) | 2013-10-07 | 2014-10-07 | Needle steering by shaft manipulation |
Publications (3)
Publication Number | Publication Date |
---|---|
JP2016536047A JP2016536047A (ja) | 2016-11-24 |
JP2016536047A5 JP2016536047A5 (ja) | 2017-11-16 |
JP6581973B2 true JP6581973B2 (ja) | 2019-09-25 |
Family
ID=52812585
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP2016521283A Active JP6581973B2 (ja) | 2013-10-07 | 2014-10-07 | 針の挿入及び操縦のためのシステム |
Country Status (7)
Country | Link |
---|---|
US (3) | US10507067B2 (ja) |
EP (1) | EP3054868B1 (ja) |
JP (1) | JP6581973B2 (ja) |
CN (1) | CN105813585B (ja) |
CA (1) | CA2926621C (ja) |
IL (1) | IL244999A0 (ja) |
WO (1) | WO2015052719A1 (ja) |
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