JP6664331B2 - 機械的な関節並びに関連するシステム及び方法 - Google Patents
機械的な関節並びに関連するシステム及び方法 Download PDFInfo
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- A—HUMAN NECESSITIES
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- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
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- A61B34/35—Surgical robots for telesurgery
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- A—HUMAN NECESSITIES
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- A61B34/70—Manipulators specially adapted for use in surgery
- A61B34/71—Manipulators operated by drive cable mechanisms
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- A—HUMAN NECESSITIES
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- A61B90/36—Image-producing devices or illumination devices not otherwise provided for
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- A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
- A61B2017/00292—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery mounted on or guided by flexible, e.g. catheter-like, means
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- A—HUMAN NECESSITIES
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- A61B2034/305—Details of wrist mechanisms at distal ends of robotic arms
- A61B2034/306—Wrists with multiple vertebrae
Description
この出願は、2014年2月21日に出願された米国仮出願第61/943,084号の利益を主張し、その全文をここに参照として援用する。
Claims (20)
- シャフトと、
該シャフトの第1の端部分に連結されるリストであって、第1の関節と、第2の関節とを含み、前記第1の関節は、第1の方向に延びる第1の曲げ軸を有し、前記第2の関節は、前記第1の方向とは異なる第2の方向に延びる第2の曲げ軸を有する、リストと、
該リストに連結されるエンドエフェクタと、
前記シャフト及び前記リストに沿って延びる、作動要素とを含み、
該作動要素は、前記リストの少なくとも部分に沿う捩れ経路に従い、該捩れ経路は、前記リストの全長に沿って360度未満の角度的な広がりを有し、
前記作動要素は、前記リストの前記第1の関節と前記リストの前記第2の関節との組み合わせに亘って実質的に長さを維持し、
前記作動要素は、前記第1の関節又は前記第2の関節の各々に亘って長さを維持しない、
手術器具。 - シャフトと、
該シャフトの第1の端部分に連結されるリストであって、第1の関節と、第2の関節とを含み、前記第1の関節は、第1の方向に延びる第1の曲げ軸を有し、前記第2の関節は、前記第1の方向とは異なる第2の方向に延びる第2の曲げ軸を有する、リストと、
該リストに連結されるエンドエフェクタと、
前記シャフト及び前記リストに沿って延びる、作動要素とを含み、
該作動要素は、前記リストの少なくとも部分に沿う捩れ経路に従い、該捩れ経路は、前記リストの全長に沿って360度未満の角度的な広がりを有し、
前記リストは、第3の関節を更に含み、
前記作動要素は、前記リストの前記第1の関節に亘って実質的に長さを維持し、
前記作動要素は、前記リストの前記第2の関節と前記リストの第3の関節との組み合わせに亘って実質的に長さを維持し、
前記作動要素は、個々の第2の関節又は個々の第3の関節に亘って長さを維持しない、
手術器具。 - シャフトと、
該シャフトの第1の端部分に連結されるリストであって、第1の関節と、第2の関節とを含み、前記第1の関節は、第1の方向に延びる第1の曲げ軸を有し、前記第2の関節は、前記第1の方向とは異なる第2の方向に延びる第2の曲げ軸を有する、リストと、
該リストに連結されるエンドエフェクタと、
前記シャフト及び前記リストに沿って延びる、作動要素とを含み、
該作動要素は、前記リストの少なくとも部分に沿う捩れ経路に従い、該捩れ経路は、前記リストの全長に沿って360度未満の角度的な広がりを有し、
前記リストは、第3の関節を更に含み、
前記作動要素は、前記第1の関節に沿う捩れ経路に従うことなく、前記第1の関節に亘って実質的に長さを維持し、
前記作動要素は、前記第2の関節と前記第3の関節との組み合わせに亘って長さを維持し、
前記作動要素は、個々の第2の関節又は個々の第3の関節に亘って長さを維持しない、
手術器具。 - 前記作動要素は、前記第1の関節に亘って直線経路に従い、前記第1の関節の曲げ軸と整列させられる、請求項3に記載の手術器具。
- 前記作動要素は、前記第2の関節及び前記第3の関節に亘って前記捩れ経路に従い、
前記第2の関節及び前記第3の関節に亘る前記捩れ経路は、約180度の角度的な広がりを有する、
請求項3に記載の手術器具。 - シャフトと、
該シャフトの第1の端部分に連結されるリストであって、第1の関節と、第2の関節とを含み、前記第1の関節は、第1の方向に延びる第1の曲げ軸を有し、前記第2の関節は、前記第1の方向とは異なる第2の方向に延びる第2の曲げ軸を有する、リストと、
該リストに連結されるエンドエフェクタと、
前記シャフト及び前記リストに沿って延びる、作動要素とを含み、
該作動要素は、前記リストの少なくとも部分に沿う捩れ経路に従い、該捩れ経路は、前記リストの全長に沿って360度未満の角度的な広がりを有し、
前記リストは、第3の関節と、第4の関節とを更に含み、
前記第3の関節は、前記第2の関節に隣接し、前記第2の方向に沿う曲げ軸を有し、
前記第4の関節は、前記第3の関節に隣接し、前記第1の方向に沿う曲げ軸を有する、
手術器具。 - シャフトと、
該シャフトの第1の端部分に連結されるリストであって、第1の関節と、第2の関節とを含み、前記第1の関節は、第1の方向に延びる第1の曲げ軸を有し、前記第2の関節は、前記第1の方向とは異なる第2の方向に延びる第2の曲げ軸を有する、リストと、
該リストに連結されるエンドエフェクタと、
前記シャフト及び前記リストに沿って延びる、作動要素とを含み、
該作動要素は、前記リストの少なくとも部分に沿う捩れ経路に従い、該捩れ経路は、前記リストの全長に沿って360度未満の角度的な広がりを有し、
前記捩れ経路が捩れる軸が、前記リストの長手中心線から径方向に偏心させられる、
手術器具。 - 前記シャフトの前記第1の端部分とは反対の前記シャフトの第2の端部分に連結される伝動機構を更に含み、
該伝動機構は、前記作動要素に沿って駆動力を伝える、
請求項1、2、3、6又は7に記載の手術器具。 - 前記作動要素は、前記エンドエフェクタまで延び、
前記伝動機構は、前記作動要素に沿って前記駆動力を伝えて、前記エンドエフェクタを作動させる、
請求項8に記載の手術器具。 - 前記伝動機構は、前記作動要素に沿って前記駆動力を伝えて、前記リストを作動させる、請求項8に記載の手術器具。
- 前記捩れ経路を定める少なくとも1つの管腔を含む作動要素支持構造を更に含み、
前記作動要素は、前記作動要素支持構造の前記管腔を通じて延びる、
請求項1、2、3、6、7、8、9又は10に記載の手術器具。 - 前記作動要素支持構造は、一体成形構造を有する、請求項11に記載の手術器具。
- 前記作動要素支持構造は、前記作動要素支持構造の他の領域に対する、1つ又はそれよりも多くの材料弱化領域を含む、請求項11に記載の手術器具。
- 前記作動要素支持構造は、別個のリンクを含み、
前記別個のリンクの各リンクは、前記作動要素を受け入れる通路を含み、
前記別個のリンクの前記通路は、前記リストの長手中心線について異なる角位置に位置付けられる、
請求項11に記載の手術器具。 - 前記作動要素支持構造は、圧縮力に抗する圧縮部材と、引張力に抗する張力部材とを含む、請求項11に記載の手術器具。
- 前記作動要素支持構造は、複数のフレキシブルな同軸チューブを含む、請求項11に記載の手術器具。
- 前記作動要素は、剛性構造を含む、請求項1、2、3、6、7、8、9又は10に記載の手術器具。
- 前記剛性構造は、金属シリンダである、請求項17に記載の手術器具。
- 前記作動要素は、前記剛性構造に隣接する被膜を含む、請求項17に記載の手術器具。
- 前記シャフト及び前記リストに沿って延びる第2の作動要素を更に含み、
該第2の作動要素は、前記リストの少なくとも部分に沿う第2の捩れ経路に従い、
前記作動要素の前記捩れ経路及び前記第2の作動要素の前記第2の捩れ経路は、実質的に互いに平行である、
請求項1、2、3、6、7、8、9又は10に記載の手術器具。
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US201461943084P | 2014-02-21 | 2014-02-21 | |
US61/943,084 | 2014-02-21 | ||
PCT/US2015/016854 WO2015127231A1 (en) | 2014-02-21 | 2015-02-20 | Mechanical joints, and related systems and methods |
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JP2021134996A Pending JP2021191424A (ja) | 2014-02-21 | 2021-08-20 | 機械的な関節並びに関連するシステム及び方法 |
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JP (4) | JP6664331B2 (ja) |
KR (1) | KR102410823B1 (ja) |
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JP2021191424A (ja) | 2021-12-16 |
CN106028995A (zh) | 2016-10-12 |
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WO2015127231A1 (en) | 2015-08-27 |
US11272994B2 (en) | 2022-03-15 |
KR102410823B1 (ko) | 2022-06-21 |
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