JP6585613B2 - 遠隔操作医療システムのための構造調節システム及び方法 - Google Patents
遠隔操作医療システムのための構造調節システム及び方法 Download PDFInfo
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Description
Claims (17)
- 医療処置を行うための遠隔操作医療システムであって、
医療処置を支援するように構成される遠隔操作アームを有する遠隔操作アセンブリと、
内部に格納される閾限界を有する制御システムとを含み、
前記遠隔操作アームは、前記遠隔操作アームが患者に連結されるときに、前記遠隔操作アームが通り越し得ない境界を定める、運動限界を有し、
前記閾限界は、前記医療処置を適切に行うために前記遠隔操作アームが潜在的に進む境界であり、前記制御システムは、前記運動限界を前記閾限界と比較し、前記閾限界が前記運動限界によって境界付けられる運動の範囲の外側にあるときを出力デバイスを介して操作者に通知するように、構成される、
遠隔操作医療システム。 - 前記閾限界は、前記制御システムに事前格納され、且つ、前記医療処置の種類、前記患者の体内の前記医療処置の場所、患者の身体構成、及び患者アプローチのうちの少なくとも1つに基づき、前記運動限界との比較のためにアクセスされる、請求項1に記載の遠隔操作医療システム。
- 前記出力デバイスは、視覚的ディスプレイ及びスピーカのうちの1つを含む、請求項1又は2に記載の遠隔操作医療システム。
- 前記遠隔操作アセンブリは、前記遠隔操作アームのピッチを修正し且つ前記閾限界に対して前記運動限界を変更するよう、調節可能な関節を含む、請求項1乃至3のうちのいずれか1項に記載の遠隔操作医療システム。
- 前記調節可能な関節は、前記遠隔操作アームの近位部分に配置される、請求項4に記載の遠隔操作医療システム。
- 前記遠隔操作アームの構成を修正し且つ前記運動限界を変更するよう、前記調節可能な関節を調節するために、モータをアクティブ化するように構成される、入力デバイスを更に含む、請求項4又は5に記載の遠隔操作医療システム。
- 前記制御システムは、前記出力デバイス上の視覚的通知を介して、前記閾限界が前記運動限界によって境界付けられる運動の範囲の外側にあるときを操作者に通知するように構成され、前記制御システムは、前記運動限界が、前記遠隔操作アームが前記閾限界に向かって動くのをもはや妨げないときに、前記通知を自動的に取り除くように構成される、請求項1乃至6のうちのいずれか1項に記載の遠隔操作医療システム。
- 前記運動限界は、電子的運動限界である、請求項1乃至7のうちのいずれか1項に記載の遠隔操作医療システム。
- 前記運動限界は、前記運動限界を超える動きを防止する前記遠隔操作アームの物理的構造又は前記遠隔操作アームの物理的能力によって定められる、請求項1乃至8のうちのいずれか1項に記載の遠隔操作医療システム。
- 前記閾限界は、前記医療処置を適切に行うために前記遠隔操作アームが潜在的に進む前記境界の縁であり、前記遠隔操作アームは、電動式の遠隔操作アームである、請求項1乃至9のうちのいずれか1項に記載の遠隔操作医療システム。
- 医療処置を行うための遠隔操作医療システムであって、
医療処置を支援するように構成される遠隔操作アームを有する遠隔操作アセンブリと、
内部に格納される閾限界を有する制御システムとを含み、
前記遠隔操作アームは、前記遠隔操作アームが患者に連結されるときに前記遠隔操作アームを再構成しなければ前記遠隔操作アームが取り越し得ない境界を定める、運動限界を有し、
前記閾限界は、医療処置を適切に行うために前記遠隔操作アームが潜在的に進む境界であり、前記制御システムは、前記運動限界を前記閾限界と比較し、前記運動限界が前記閾限界の事前設定される許容値内にあるときを出力デバイスを介して操作者に通知するように、構成される、
遠隔操作医療システム。 - 前記事前設定される許容値は、
前記制御システムが、前記運動限界が前記閾限界の第1の側の10度内にあるとき又は前記運動限界が前記閾限界の第2の側でゼロ度より大きいときを操作者に通知するよう、前記閾限界の前記第1の側での10度未満の許容値範囲及び前記閾限界の前記第2の側でのゼロよりも大きい許容値範囲を含み、或いは、
前記制御システムが、前記運動限界が前記閾限界の10度内にあるときを操作者に通知するよう、10度未満の許容値範囲を含む、
請求項11に記載の遠隔操作医療システム。 - 前記制御システムは、複数の事前格納される閾限界を含み、該複数の事前格納される閾限界の各々は、特定の種類の医療処置と関連付けられ、前記制御システムは、行われるべき前記医療処置の種類に基づき前記運動限界との比較のために前記複数の事前格納される閾限界のうちの1つを前記閾限界として選択する、請求項11又は12に記載の遠隔操作医療システム。
- 前記遠隔操作アセンブリは、前記遠隔操作アームの構成を修正し且つ前記閾限界に対して前記運動限界を変更するように動作可能な調節可能な関節を含み、
前記調節可能な関節は、前記遠隔操作アームの近位部分に配置される、
請求項11乃至13のうちのいずれか1項に記載の遠隔操作医療システム。 - 前記閾限界は、前記医療処置を適切に行うために前記遠隔操作アームが潜在的に進む前記境界の縁であり、前記遠隔操作アームは、電動式の遠隔操作アームである、請求項11乃至14のうちのいずれか1項に記載の遠隔操作医療システム。
- 遠隔操作医療システムの作動方法であって、
制御システムのプロセッサが、前記制御システムに格納される閾限界を運動限界と比較するステップであって、前記格納される閾限界は、医療処置を適切に行うために遠隔操作アームが潜在的に進む境界であり、前記運動限界は、前記遠隔操作アームが患者に連結されるときに前記遠隔操作アームが通り越し得ない境界である、ステップと、
前記プロセッサが、前記遠隔操作アームが前記閾限界に向かって進むのを前記運動限界が抑制するよう、前記運動限界が前記閾限界の許容値内にあるときを、出力デバイスを介して操作者に通知する、ステップとを含む、
作動方法。 - 前記運動限界が前記閾限界の前記許容値内にあるときを、前記出力デバイスを介して操作者に通知するステップは、前記遠隔操作アームの調節のための利用可能な運動の範囲が所望の方向において存在するときにのみ前記操作者に通知することを含む、請求項16に記載の作動方法。
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US201461954090P | 2014-03-17 | 2014-03-17 | |
US61/954,090 | 2014-03-17 | ||
PCT/US2015/018456 WO2015142512A1 (en) | 2014-03-17 | 2015-03-03 | Structural adjustment systems and methods for a teleoperational medical system |
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