JP6619748B2 - 遠隔手術台位置合わせのための方法及び装置 - Google Patents
遠隔手術台位置合わせのための方法及び装置 Download PDFInfo
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Description
Claims (15)
- 第1のマニピュレータを有するマニピュレータアセンブリの位置合わせの方法であって、前記方法は:
1又は複数の自由度に沿って位置決め可能である台の位置合わせ機構の状態を検知するステップと;
前記位置合わせ機構の検知された前記状態に基づいて、前記台と前記マニピュレータアセンブリとの間の空間的な関係を決定するステップと;
前記台と前記マニピュレータアセンブリとの間の決定された前記空間的な関係に基づいて前記マニピュレータアセンブリを前記台と位置合わせするステップと;を含み、
前記位置合わせ機構の前記状態を検知する前記ステップは、前記台の前記位置合わせ機構を前記第1のマニピュレータと接触させるステップを含み、
前記第1のマニピュレータは、低侵襲開口に使用するためのカニューレとインターフェース接続するように構成されるカニューレ取付部を含み、前記位置合わせ機構は、前記台に機械的に取り付けられるとともに前記カニューレ取付部の形状及びサイズに対応する成形位置合わせノブを有する、
方法。 - 第1のマニピュレータを有するマニピュレータアセンブリの位置合わせの方法であって、前記方法は:
1又は複数の自由度に沿って位置決め可能である台の位置合わせ機構の状態を検知するステップと;
前記位置合わせ機構の検知された前記状態に基づいて、前記台と前記マニピュレータアセンブリとの間の空間的な関係を決定するステップと;
前記台と前記マニピュレータアセンブリとの間の決定された前記空間的な関係に基づいて前記マニピュレータアセンブリを前記台と位置合わせするステップと;
前記台を動かすステップ;及び
前記台を動かす間に、前記第1のマニピュレータと前記位置合わせ機構との間の取り付けを維持することによって前記マニピュレータアセンブリと前記台との間の位置合わせを維持するステップ;を含む、
方法。 - 前記位置合わせ機構を前記第1のマニピュレータと接触させる前記ステップは、前記第1のマニピュレータの遠位部分の運動が、前記台が位置決め可能である前記1又は複数の自由度に対応する1又は複数の自由度に沿って拘束されるように、前記第1のマニピュレータの前記遠位部分を前記位置合わせ機構に取り付けるステップを含む、
請求項1に記載の方法。 - 前記第1のマニピュレータが前記位置合わせ機構から取り外された後、前記第1のマニピュレータの運動を計算するのに前記台と前記マニピュレータアセンブリとの間の前記位置合わせを利用して、前記第1のマニピュレータで処置を実行するステップをさらに含む、
請求項1又は2に記載の方法。 - 近位ベースと遠位部分との間に延びる第1のマニピュレータアームを有するマニピュレータアセンブリであって、前記第1のマニピュレータアームは、前記近位ベースに対して遠位エンドエフェクタを動かすように構成され、前記第1のマニピュレータアームは、複数のジョイントを有する、マニピュレータアセンブリ;
前記マニピュレータアセンブリの近くに配置される台であって、前記台の1又は複数のジョイントにより1又は複数の自由度に沿って位置決め可能である、台;
前記台の位置合わせ機構の検知された状態に基づいて、前記台と前記マニピュレータアセンブリとの間の空間的な関係を決定することによって、前記マニピュレータアセンブリを前記台と位置合わせするように構成される、プロセッサ;及び
前記台と前記マニピュレータアセンブリとの間、又は前記台と、前記マニピュレータアセンブリと既知の空間的関係を有する外部特徴部との間に延びる1又は複数のリニアエンコーダ;を含む、
遠隔操作システム。 - 近位ベースと遠位部分との間に延びる第1のマニピュレータアームを有するマニピュレータアセンブリであって、前記第1のマニピュレータアームは、前記近位ベースに対して遠位エンドエフェクタを動かすように構成され、前記第1のマニピュレータアームは、複数のジョイントを有する、マニピュレータアセンブリ;
前記マニピュレータアセンブリの近くに配置される台であって、前記台の1又は複数のジョイントにより1又は複数の自由度に沿って位置決め可能である、台;及び
前記台の位置合わせ機構の検知された状態に基づいて、前記台と前記マニピュレータアセンブリとの間の空間的な関係を決定することによって、前記マニピュレータアセンブリを前記台と位置合わせするように構成される、プロセッサ;を有し、
前記第1のマニピュレータアームは、器具と結合するための器具インターフェースを有し、
前記器具インターフェースは、低侵襲開口に使用するためのカニューレとインターフェース接続するように構成されるカニューレ取付部を含み;
前記位置合わせ機構は、前記第1のマニピュレータアームの前記遠位部分と前記位置合わせ装置との間の取り付けを容易にするように前記カニューレ取付部の形状及びサイズに対応する成形ノブを有する、
遠隔操作システム。 - 前記成形ノブは、取り外し可能であるとともに、前記台の1又は複数の特定の場所において特定の向きで前記台に付くように構成される、
請求項6に記載の遠隔操作システム。 - 前記成形ノブはさらに、前記第1のマニピュレータアームの前記遠位部分の運動を6自由度に沿って拘束するように、前記カニューレ取付部の回転運動を前記カニューレ取付部に関連付けられる器具シャフト軸に沿って拘束するための位置合わせ突出部を有する、
請求項6又は7に記載の遠隔操作システム。 - 前記位置合わせ機構は、特定の場所において特定の向きで前記台の側部レールに取り付けられるように構成される、
請求項6又は7に記載の遠隔操作システム。 - 近位ベースと遠位部分との間に延びる第1のマニピュレータアームを有するマニピュレータアセンブリであって、前記第1のマニピュレータアームは、前記近位ベースに対して遠位エンドエフェクタを動かすように構成され、前記第1のマニピュレータアームは、複数のジョイントを有する、マニピュレータアセンブリ;
前記マニピュレータアセンブリの近くに配置される台であって、前記台の1又は複数のジョイントにより1又は複数の自由度に沿って位置決め可能である、台;及び
前記台の位置合わせ機構の検知された状態に基づいて、前記台と前記マニピュレータアセンブリとの間の空間的な関係を決定することによって、前記マニピュレータアセンブリを前記台と位置合わせするように構成される、プロセッサ;を有し、
前記位置合わせ機構は、
前記台に取り付けられる形状センサであって、前記プロセッサはさらに、前記形状センサの位置又は向きを使用して前記台の位置又は向きを決定するように構成される、形状センサを有する、
遠隔操作システム。 - 前記マニピュレータアセンブリは、それぞれ遠位エンドエフェクタを有する、1又は複数の追加のマニピュレータを有する、
請求項5、6、9、又は10に記載の遠隔操作システム。 - 前記プロセッサは、前記第1のマニピュレータアームの一部が、前記台に前記位置合わせ機構を通じて接触する又は前記台に前記位置合わせ機構を通じて取り付けられているとき、前記第1のマニピュレータアームの1又は複数のジョイント状態センサから位置又は向きを決定するように構成される、
請求項5、6、9、又は10に記載の遠隔操作システム。 - 前記台は、2以上の自由度に沿って位置決め可能であるように構成され、
前記位置合わせ機構は、前記第1のマニピュレータアームに対する2以上の自由度に沿った前記台の位置又は向きが、前記第1のマニピュレータアームの1又は複数のジョイント状態センサの出力から決定されることができるように、前記台の前記2以上の自由度に対応する2以上の自由度に沿って前記第1のマニピュレータアームの前記遠位部分の運動を拘束する、
請求項5、6、9、又は10に記載の遠隔操作システム。 - 前記プロセッサはさらに:
前記第1のマニピュレータアーム又は関連付けられるエンドエフェクタの所望の運動を生じさせるように前記第1のマニピュレータアームを動かす指令入力を受信し;
前記所望の運動を生じさせるように、少なくとも部分的に、前記台と前記マニピュレータアセンブリとの間の前記位置合わせに基づいて、前記第1のマニピュレータアームの前記複数のジョイントの運動を計算する;ように構成される、
請求項5、6、又は10に記載の遠隔操作システム。 - 前記位置合わせ機構の前記状態を検知することはセンサデータを使用することを含み、前記プロセッサはさらに:
前記第1のマニピュレータアームが、前記位置合わせ機構に接触する又は前記位置合わせ機構に取り付けられる間に前記第1のマニピュレータアームのジョイントセンサから前記センサデータを取得し;
前記第1のマニピュレータアームが前記位置合わせ機構から取り外された後、前記第1のマニピュレータアームの運動を計算するのに前記台と前記マニピュレータアセンブリとの間の前記位置合わせを利用して、前記第1のマニピュレータアームで処置を実行する;ように構成される、
請求項5、6、又は10に記載の遠隔操作システム。
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