JP6644061B2 - 能動的ブレーキ解放制御装置を備える医療デバイス - Google Patents
能動的ブレーキ解放制御装置を備える医療デバイス Download PDFInfo
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- 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
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Description
本開示は、2014年10月27日に出願された「System and Method for Integrated Operating Table」という名称の米国仮特許出願第62/069,245号及び2015年3月17日に出願された「System and Method for Reducing Tool Disturbances」という名称の米国仮特許出願第62/134,225号の優先権を主張し、それらの全文を本明細書中に参照として援用する。
Claims (21)
- 第1の複数のジョイントを備える第1の関節作動アームと、
該第1の関節作動アームに連結される制御ユニットとを含み、
該制御ユニットは、前記第1の関節作動アーム内の第1の複数のブレーキに第1の命令を送信して、前記第1の複数のブレーキの全てのブレーキが解放される間の前記第1の複数のブレーキの同時の解放を防止する計算された間隔での第1の所定の時差式な仕方において前記第1の複数のブレーキの解放を開始させるように構成され、
前記第1の複数のブレーキの各ブレーキは、前記第1の複数のジョイントの対応するジョイントを制動するように構成される、
コンピュータ支援医療デバイス。 - 前記第1の所定の時差式な仕方は、前記第1の複数のブレーキのブレーキを相互の所定の時間内で解放することを含む、請求項1に記載のコンピュータ支援医療デバイス。
- 第2の複数のジョイントを備える第2の関節作動アームを更に含み、
前記制御ユニットは、前記第2の関節作動アーム内の第2の複数のブレーキに第2の命令を送信して、前記第2の複数のブレーキの全てのブレーキが解放される間の前記第2の複数のブレーキの同時の解放を防止する計算された間隔での第2の所定の時差式な仕方において前記第2の複数のブレーキの解放を開始させるように更に構成され、
前記第2の複数のブレーキの各ブレーキは、前記第2の複数のジョイントの対応するジョイントを制動するように構成され、
前記第1の命令は、前記第1の複数のブレーキの前記解放を開始させるための第1の時間の窓を割り当て、第2の命令は、前記第2の複数のブレーキの前記解放を開始させるための第2の時間の窓を割り当てる、
請求項1又は2に記載のコンピュータ支援医療デバイス。 - 前記第1及び第2の時間の窓は、所定の時間期間内の複数のクロックサイクルに基づき、前記第1及び第2の関節作動アームは、それぞれ、前記所定の時間期間内の前記複数のクロックサイクルを関節作動アームの数で除算することによって決定されるそれぞれの時間の窓を使用する、請求項3に記載のコンピュータ支援医療デバイス。
- 前記第1及び第2の関節作動アームは、前記第1及び第2の時間の窓を決定するために使用可能なグローバルクロックを共用する、請求項3又は4に記載のコンピュータ支援医療デバイス。
- 前記第1及び第2の命令は、前記第1及び第2の複数のブレーキのいずれのブレーキも前記第1及び第2の複数のブレーキの他のブレーキと同時に解放されないよう、前記第1及び第2の時間の窓を割り当てる、請求項3乃至5のうちのいずれか1項に記載のコンピュータ支援医療デバイス。
- 前記第1の所定の時差式な仕方は、前記第1の複数のブレーキの各ブレーキについて、前記計算された間隔のうちの対応する1つの間隔の間にそのブレーキの漸進的な解放を開始させることを含む、請求項1乃至6のうちのいずれか1項に記載のコンピュータ支援医療デバイス。
- 前記制御ユニットは、電圧又は電流の立上り変化を引き起こすことによって前記漸進的な解放を行うように構成される、請求項7に記載のコンピュータ支援医療デバイス。
- 前記第1の所定の時差式な仕方は、前記第1の複数のブレーキの垂直ジョイントブレーキの解放を最後に命令し、該垂直ジョイントブレーキは、前記第1の複数のジョイントの垂直ジョイントを制動するように構成される、請求項1乃至8のうちのいずれか1項に記載のコンピュータ支援医療デバイス。
- 前記第1の所定の時差式な仕方は、最大の外乱が前記第1の複数のブレーキの最後のブレーキの解放によって引き起こされるような順序において、前記第1の複数のブレーキの各ブレーキを解放することを含む、請求項1乃至8のうちのいずれか1項に記載のコンピュータ支援医療デバイス。
- 前記制御ユニットは、前記第1の複数のブレーキの前記解放の間に前記第1の関節作動アームを移動させるように更に構成される、請求項1乃至10のうちのいずれか1項に記載のコンピュータ支援医療デバイス。
- 前記制御ユニットは、使用者命令に基づいて前記第1の関節作動アームを移動させるように構成される、請求項11に記載のコンピュータ支援医療デバイス。
- 医療デバイス内の動きを制御するための作動方法であって、
制御ユニットが、第1の関節作動アーム内の第1の複数のブレーキに第1の命令を送信して、前記第1の複数のブレーキの全てのブレーキが解放される間の前記第1の複数のブレーキの同時の解放を防止する計算された間隔での第1の所定の時差式な仕方において前記第1の複数のブレーキの解放を開始させることを含む、
作動方法。 - 前記第1の所定の時差式な仕方は、前記第1の複数のブレーキのブレーキを、相互の所定の時間内に解放することを含む、請求項13に記載の作動方法。
- 前記制御ユニットは、第2の関節作動アーム内の第2の複数のブレーキに第2の命令を送信して、前記第2の複数のブレーキの全てのブレーキが解放される間の前記第2の複数のブレーキの同時の解放を防止する計算された間隔での前記第2の複数のブレーキの解放を第2の所定の時差式な仕方において開始させることを更に含み、
前記第1の命令は、前記第1の複数のブレーキの前記解放を開始させるための第1の時間の窓を割り当て、第2の命令は、前記第2の複数のブレーキの前記解放を開始させるための第2の時間の窓を割り当てる、
請求項13又は14に記載の作動方法。 - 前記第1及び第2の命令は、前記第1及び第2の複数のブレーキのいずれのブレーキも前記第1及び第2の複数のブレーキの他のブレーキと同時に解放しないよう、前記第1及び第2の時間の窓を割り当てる、請求項15に記載の作動方法。
- 前記第1の所定の時差式な仕方は、前記第1の複数のブレーキの各ブレーキについて、前記計算された間隔のうちの対応する1つの間隔の間にそのブレーキの漸進的な解放を開始させることを含む、請求項13乃至16のうちのいずれか1項に記載の作動方法。
- 前記第1の所定の時差式な仕方は、前記第1の複数のブレーキの垂直ジョイントブレーキの解放を最後に命令することを含み、該垂直ジョイントブレーキは、前記第1の複数のジョイントの垂直ジョイントを制動するように構成される、請求項13乃至17のうちのいずれか1項に記載の作動方法。
- 前記第1の所定の時差式な仕方は、最大の外乱が前記第1の複数のブレーキの最後のブレーキの解放によって引き起こされるような順序において、前記第1の複数のブレーキの各ブレーキを解放することを含む、請求項13乃至18のうちのいずれか1項に記載の作動方法。
- 前記制御ユニットが、前記第1の複数のブレーキの前記解放の間に前記第1の関節作動アームを移動させる使用者命令を受信すること、及び
前記制御ユニットが、前記第1の複数のブレーキの前記解放の間に前記使用者命令に基づき前記第1の関節作動アームを移動させる命令を送信することを更に含む、
請求項13乃至19のうちのいずれか1項に記載の作動方法。 - 複数の機械可読指令を含み、該複数の機械可読指令は、第1の関節作動アーム内の第1の複数のブレーキを含む医療デバイスと関連付けられる1つ又はそれよりも多くのプロセッサによって実行されるときに、該1つ又はそれよりも多くのプロセッサに、請求項13乃至20のうちのいずれか1項に記載の作動方法を実行させるように、構成される、持続性機械可読媒体。
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US201462069245P | 2014-10-27 | 2014-10-27 | |
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US201562134225P | 2015-03-17 | 2015-03-17 | |
US62/134,225 | 2015-03-17 | ||
PCT/US2015/057671 WO2016069661A1 (en) | 2014-10-27 | 2015-10-27 | Medical device with active brake release control |
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KR (2) | KR102655083B1 (ja) |
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EP3212105A4 (en) | 2014-10-27 | 2018-07-11 | Intuitive Surgical Operations, Inc. | System and method for monitoring control points during reactive motion |
KR102479015B1 (ko) | 2014-10-27 | 2022-12-20 | 인튜어티브 서지컬 오퍼레이션즈 인코포레이티드 | 통합 수술 테이블 운동을 위한 시스템 및 방법 |
WO2016069659A1 (en) | 2014-10-27 | 2016-05-06 | Intuitive Surgical Operations, Inc. | System and method for instrument disturbance compensation |
US10624807B2 (en) | 2014-10-27 | 2020-04-21 | Intuitive Surgical Operations, Inc. | System and method for integrated surgical table icons |
EP3912610B1 (en) | 2014-10-27 | 2023-03-15 | Intuitive Surgical Operations, Inc. | System for registering to a surgical table |
WO2016069648A1 (en) | 2014-10-27 | 2016-05-06 | Intuitive Surgical Operations, Inc. | System and method for integrated surgical table |
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