JP6596528B2 - ロボットによる手術用器具のエンドエフェクタの積極的な制御 - Google Patents
ロボットによる手術用器具のエンドエフェクタの積極的な制御 Download PDFInfo
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- A61B34/70—Manipulators specially adapted for use in surgery
- A61B34/74—Manipulators with manual electric input means
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- A—HUMAN NECESSITIES
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- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/068—Surgical staplers, e.g. containing multiple staples or clamps
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/28—Surgical forceps
- A61B17/29—Forceps for use in minimally invasive surgery
- A61B17/295—Forceps for use in minimally invasive surgery combined with cutting implements
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- 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
- A61B34/70—Manipulators specially adapted for use in surgery
- A61B34/76—Manipulators having means for providing feel, e.g. force or tactile feedback
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
- A61B18/04—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating
- A61B18/12—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating by passing a current through the tissue to be heated, e.g. high-frequency current
- A61B18/14—Probes or electrodes therefor
- A61B18/1442—Probes having pivoting end effectors, e.g. forceps
- A61B18/1445—Probes having pivoting end effectors, e.g. forceps at the distal end of a shaft, e.g. forceps or scissors at the end of a rigid rod
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/00017—Electrical control of surgical instruments
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/00017—Electrical control of surgical instruments
- A61B2017/00115—Electrical control of surgical instruments with audible or visual output
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/00017—Electrical control of surgical instruments
- A61B2017/00115—Electrical control of surgical instruments with audible or visual output
- A61B2017/00119—Electrical control of surgical instruments with audible or visual output alarm; indicating an abnormal situation
- A61B2017/00123—Electrical control of surgical instruments with audible or visual output alarm; indicating an abnormal situation and automatic shutdown
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
- A61B2017/00353—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery one mechanical instrument performing multiple functions, e.g. cutting and grasping
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B18/00—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body
- A61B18/04—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating
- A61B18/12—Surgical instruments, devices or methods for transferring non-mechanical forms of energy to or from the body by heating by passing a current through the tissue to be heated, e.g. high-frequency current
- A61B18/14—Probes or electrodes therefor
- A61B18/1442—Probes having pivoting end effectors, e.g. forceps
- A61B2018/1452—Probes having pivoting end effectors, e.g. forceps including means for cutting
- A61B2018/1455—Probes having pivoting end effectors, e.g. forceps including means for cutting having a moving blade for cutting tissue grasped by the jaws
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- 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
- A61B90/08—Accessories or related features not otherwise provided for
- A61B2090/0801—Prevention of accidental cutting or pricking
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- 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
- A61B34/25—User interfaces for surgical systems
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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- Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10S901/00—Robots
- Y10S901/02—Arm motion controller
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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- Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10S901/00—Robots
- Y10S901/02—Arm motion controller
- Y10S901/06—Communication with another machine
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10S901/00—Robots
- Y10S901/02—Arm motion controller
- Y10S901/09—Closed loop, sensor feedback controls arm movement
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10S901/00—Robots
- Y10S901/30—End effector
- Y10S901/45—Compliance
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10S901/00—Robots
- Y10S901/46—Sensing device
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Description
本出願は、2011年5月31日に出願された米国仮特許出願第61/491,647号について優先権を主張するものであり、その全体が参照により本明細書に組み込まれる。
駆動及び制御することに関するさらなる詳細について、参照が、本明細書と同日付で出願された、”SURGICAL INSTRUMENT WITH MOTOR”という表題の米国特許出願第xx/xxx,xxx号(代理人整理番号ISRG03280/US)について行われ、この出願は、2011年5月31日に出願された、”SURGICAL INSTRUMENT WITH MOTOR”という表題の米国仮特許出願第61/491,698号について優先権を主張するものである。さらに参照が、本明細書と同日付で出願された、”SURGICAL INSTRUMENT WITH CONTROL FOR DETECTED FAULT CONDITION”という表題の米国特許出願第xx/xxx,xxx号(代理人整理番号03290/US)について行われ、この出願は、2011年5月31日に出願された”SURGICAL INSTRUMENT WITH CONTROL FOR DETECTED FAULT CONDITION”という表題の米国仮特許出願第61/491,671号について優先権を主張するものである。それぞれ文献の開示は、その全体が参照として本願に組み込まれる。
において、電子/制御コンソール14は、エンドエフェクタ20に所望の外科処置を行わせるように送信される1つ以上の作動信号を出力する。例として、電子/制御コンソール14は、患者側コンソール12における手術用器具18の伝達機構21に関連する1つ以上のモータ(図示せず)(例えば、サーボアクチュエータ及び/又は搭載モータ)を活性化させるような作動信号を送信することができる。1つ以上のモータが起動されるとき、伝達機構21は、動作107において、伝達機構21内の例えばドライブシャフト、ギア、レバー、ジンバルプレート、ラック及びピニオン等の作動コンポーネントのシステムを通じて及びシャフト23に沿って力及び/又はトルクを伝達して、手術用器具18のエンドエフェクタ20を作動させる。当業者は、ロボット制御式手術用器具18の基端に設けられた伝達機構の様々な構成に精通しており、この伝達機構は、患者側コンソール12のロボットアームのサーボアクチュエータを介して提供されるような対応する駆動入力と相互作用して、手術用器具18を作動させるように構成されている。実施例では、伝達機構21は、患者側コンソール12のサーボアクチュエータからの各種入力を受信することに加えて又はこの受信の代わりに、例えば、電子/制御コンソール14を介して搭載モータに直接的に供給される電圧によって駆動するように構成される1つ以上の搭載モータ(例えば、DCモータ)を含むことができる。電子/制御コンソール14は、こうして、第2の入力信号を受信すると、伝達機構21において例えば搭載モータに電圧を供給するための信号を送信することができる。搭載モータを有する手術用器具の伝達機構を利用する外科処置用ロボットシステムの実施例について、参照が、本明細書と同日付で出願された、”SURGICAL INSTRUMENT WITH MOTOR”という表題の米国特許出願第xx/xxx,xxx号(代理人整理番号ISRG03280/US)について行われ、この出願は、2011年5月31日に出願された、”SURGICAL INSTRUMENT WITH MOTOR”という表題の米国仮特許出願第61/491,698号に対して優先権を主張するものである。また参照が、本明細書と同日付で提出された、”SURGICAL INSTRUMENT WITH CONTROL FOR DETECTED FAULT CONDITION”という表題の米国特許出願第xx/xxx,xxx号(代理人整理番号03290/US)について行われ、この出願は、2011年5月31日に出願された、”SURGICAL INSTRUMENT WITH CONTROL FOR DETECTED FAULT CONDITION”という表題の米国仮特許出願第61/491,671号に対して優先権を主張するものである。それぞれの文献の開示は、その全体が参照として本明細書に組み込まれる。
つの構成要素を作動させるためのユーザの準備が整ったことを示す第1の入力を入力装置
において受信する前に、システムは、このシステムが施術を行う準備が整っていることを
示すシステムの「準備完了状態」を示す1つ以上の条件がに存在するかを判断することが
できる。
ンピュータ上のハードウェア(計算装置)及び/又はソフトウェアとして実装することができる。生成された結果は、コンピュータのハードウェアのディスプレイ上に表示することができる。本開示の様々な実施例による各種の応答及び信号処理を行うためのアルゴリズムを含む1つ以上のプログラム/ソフトウェアは、上述したプロセッサ22又はプロセッサ80等の電子/制御コンソール14のプロセッサによって、又はこのコンソール14と協調するように実装することができ、コンピュータ読み取り可能な記録及び/又は記憶媒体を含むコンピュータ可読媒体に記録してもよい。コンピュータ読み取り可能な記録媒体の例としては、磁気記録装置、光ディスク、光磁気ディスク、及び/又は半導体メモリ(例えば、RAM、ROM等)が挙げられる。磁気記録装置の例としては、ハードディスク装置(HDD)、フレキシブルディスク(FD)、磁気テープ(MT)が挙げられる。光ディスクの例としては、DVD(デジタル多用途ディスク)、DVD−RAM、CD−ROM(コンパクトディスク・リードオンリーメモリ)及びCD−R(書き込み可能な)/RWが挙げられる。
Claims (12)
- 手術用装置であって、当該手術用装置は、
エンドエフェクタを有する器具であって、前記エンドエフェクタは、把持力を加えるように構成された把持機構と、外科処置を行うように構成されたツールと、を含む、器具と、
前記把持機構を作動させて把持力を加えるための入力を受け取るように構成される把持入力機構と、
前記器具が準備完了状態から作動可能状態に移行するためのユーザの準備が整ったことを示す第1の入力を受け取るように構成される作動入力機構であって、前記作動可能状態は前記器具が外科処置を行う準備が整った状態である、作動入力機構と、
前記把持入力機構及び前記作動入力機構と通信する制御装置と、を有しており、
前記制御装置は、
前記作動入力機構からの第1の入力を受信することに応答して前記器具を前記作動可能状態に移行させ、
前記器具が前記作動可能状態にあるというフィードバックを出力装置を介して前記ユーザに提供し、
前記器具が前記作動可能状態になった後に前記器具を施術可能状態に移行させる第2の入力を受信することに応答して前記外科処置を行うように前記ツールを制御するように構成される、
手術用装置。 - 前記ツールは、ステープラーを含む、請求項1に記載の手術用装置。
- 前記作動入力機構は、ボタンを含む、請求項1に記載の手術用装置。
- 前記制御装置は、前記把持入力機構から把持入力コマンドを受信することに応答して、第1の把持力を加えるように前記把持機構を制御するようにさらに構成される、請求項1に記載の手術用装置。
- 前記器具は、基端部及び先端部を有するシャフトをさらに含み、
前記エンドエフェクタは、前記シャフトの先端部に結合され、
力駆動機構が、前記シャフトの基端部に結合され、且つ前記エンドエフェクタに動作可能に結合される、請求項1に記載の手術用装置。 - 前記制御装置は、前記器具が前記準備完了状態にあることを示す1つ又は複数の条件が存在するかどうかを判定するようにさらに構成される、請求項1に記載の手術用装置。
- 前記1つ又は複数の条件は、前記把持機構が閉じた位置にあることを含む、請求項6に記載の手術用装置。
- 前記フィードバックは、聴覚的、視覚的、及び触覚的フィードバックのうちの1つ又は複数を含む、請求項1に記載の手術用装置。
- 前記制御装置は、前記作動可能状態を抜け出るための1つ又は複数の終了条件が存在することを示す割込み信号に応答して、前記器具を前記作動可能状態から出るよう移行させるようにさらに構成される、請求項1に記載の手術用装置。
- 前記1つ又は複数の終了条件は、
前記手術用装置の内部故障の発生と、
前記器具に関連する1つ又は複数の関節の動きと、
第2の入力装置での入力と、
前記器具が従動状態にないことと、
前記器具が前記制御装置から電気的に切り離されていることと、
前記器具にエネルギーを供給するように動作可能に結合されたエネルギー発生器が電気的に切り離されていることと、
のうちの少なくとも1つを含む、請求項9に記載の手術用装置。 - 手術用装置であって、当該手術用装置は、
把持力を加えてステープル留め処置を行うように構成されたエンドエフェクタを有する器具と、
前記エンドエフェクタを作動させて把持力を加えるための入力を受け取るように構成される把持入力機構と、
前記器具が準備完了状態から作動可能状態に移行するためのユーザの準備が整ったことを示す第1の入力を受け取るように構成される作動入力機構であって、前記作動可能状態は前記エンドエフェクタが前記ステープル留め処置を行う準備が整った状態である、作動入力機構と、
前記把持入力機構及び前記作動入力機構と通信する制御装置と、を有しており、
前記制御装置は、
前記作動入力機構からの第1の入力を受信することに応答して前記器具を前記作動可能状態に移行させ、
前記器具が前記作動可能状態にあるというフィードバックを出力装置を介して前記ユーザに提供し、
前記器具が前記作動可能状態になった後に前記器具を施術可能状態に移行させる第2の入力を受信することに応答して前記ステープル留め処置を行うように前記エンドエフェクタを制御するように構成される、
手術用装置。 - 前記エンドエフェクタは、把持力を加えるように構成された顎部と、切刃とを含む、請求項11に記載の手術用装置。
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Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US201161491647P | 2011-05-31 | 2011-05-31 | |
US61/491,647 | 2011-05-31 |
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KR (2) | KR102109615B1 (ja) |
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CN107485448B (zh) | 2020-07-31 |
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US9043027B2 (en) | 2015-05-26 |
JP2014523277A (ja) | 2014-09-11 |
CN103607968A (zh) | 2014-02-26 |
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WO2012170256A1 (en) | 2012-12-13 |
US20120316573A1 (en) | 2012-12-13 |
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