JP6678686B2 - 外科用ロボットのリストにおけるトルクセンシング - Google Patents
外科用ロボットのリストにおけるトルクセンシング Download PDFInfo
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- JP6678686B2 JP6678686B2 JP2017559349A JP2017559349A JP6678686B2 JP 6678686 B2 JP6678686 B2 JP 6678686B2 JP 2017559349 A JP2017559349 A JP 2017559349A JP 2017559349 A JP2017559349 A JP 2017559349A JP 6678686 B2 JP6678686 B2 JP 6678686B2
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- 238000002357 laparoscopic surgery Methods 0.000 description 1
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Images
Classifications
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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
- A61B34/30—Surgical robots
-
- 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
- A61B34/30—Surgical robots
- A61B34/35—Surgical robots for telesurgery
-
- 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
-
- 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
-
- 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
- A61B90/06—Measuring instruments not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/085—Force or torque sensors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J17/00—Joints
- B25J17/02—Wrist joints
- B25J17/0258—Two-dimensional joints
- B25J17/0275—Universal joints, e.g. Hooke, Cardan, ball joints
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1689—Teleoperation
-
- 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
- A61B34/30—Surgical robots
- A61B2034/305—Details of wrist mechanisms at distal ends of robotic arms
-
- 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
- A61B34/30—Surgical robots
- A61B2034/305—Details of wrist mechanisms at distal ends of robotic arms
- A61B2034/306—Wrists with multiple vertebrae
-
- 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
- A61B90/06—Measuring instruments not otherwise provided for
- A61B2090/064—Measuring instruments not otherwise provided for for measuring force, pressure or mechanical tension
- A61B2090/066—Measuring instruments not otherwise provided for for measuring force, pressure or mechanical tension for measuring torque
Description
1.実質的または非実質的な長さを有し、かつ、例えばアームの形成における第1シャフト部19の長さ(もしあれば)にほぼ沿うような軸周りの回転を許容するジョイント15(「ロールジョイント」)を含む第1シャフト部19。
2.第1シャフト部19および/または前述のジョイント(ジョイント15)の軸および/または次のジョイント(ジョイント17)の軸を横切るような回転を許容するジョイント16(「ピッチジョイント」)。
3.実質的な長さを有し、かつ、第2シャフト部20の長さにほぼ沿った軸周りの回転および/または前述のジョイント(ジョイント16)の軸に対する回転および/または次のジョイント(ジョイント18)に対する回転を許容するジョイント17(ロールジョイント)を含む第2シャフト部20。
4.第2シャフト部20および/または前述のジョイント(ジョイント17)および/または次のジョイント(ジョイント28)を横切るような回転を許容するジョイント18(「ピッチジョイント」)。
5.実質的な長さを有する第3シャフト部21。
―アームは、長さ方向に沿って配置された一連の回転ジョイントを含んでおり、かかる一連の回転ジョイントは、順番にアームに沿って配置された一連の4つのジョイントを含んでいる。一連の4つのジョイントは、(a)配列における次のジョイントにほぼ向かって延びる軸を有するもの(「ロールジョイント」)と、(b)配列における次のジョイントの軸をほぼ横切るように延びる軸を有するもの(「ピッチジョイント」)が交互に配置されている。したがって、図7のアームは、ロールジョイント115と117およびピッチジョイント116と118を含んで構成されている。この一連のジョイントによって、アームを重くしたり、大きくしたり、あるいはアームに非常に多数のジョイントを設けたりする必要なく、高い移動性がアームに提供されている。上述のように、交互に配置されたジョイントが、互いから横方向に有効にオフセットされ得る。
―アームは、ロールジョイント(128)で始まり2つのピッチジョイント(126,127)を有するリスト部を含んで構成されている。リストのピッチジョイントは、それらの軸がアームの全てのコンフィギュレーションにおいて交差するように同一場所に配置されていてもよい。この一連のジョイントによって、エンドエフェクタがアームの端部周りで高い移動性を得ることができる。
―外科用器具の伸長軸と軸が一致した回転ジョイント(138)で終端するリスト部。最も好適には、器具シャフトは直線状に延びて、ジョイントの軸はシャフトと一直線とされている。かかる配置は、エンドエフェクタが、患者の創傷チャンネルを過度に引き裂くことなく単一のジョイントにおける動きを介して所望の向きに容易に回転することを可能にできる。かかる配置がなければ、アームジョイントは、それ自体の軸周りの器具シャフトの回転を獲得するために一緒に動くように制御されねばならないだろう。その場合、アームのエルボージョイントが移動領域中で揺動して器具の望ましい動きを獲得できるように、アームのエルボージョイントの作業空間を広げる必要がある。大きなジョイント作業空間は、ロボットアーム周辺で働く手術室のスタッフのためには望ましくない。かかる配置はまた、器具自体において同等の機能を果たすジョイントを有する必要性を減らすことができる。
―実質的に垂直からオフセットされており、より好適には患者の手術部位から離れる方向に向けられている近位の回転ジョイント(115)。このことは、ジョイントがアームの別のジョイントと運動学上の特異点を持つ機会を減らしている。
1.PRPRP:即ち、図3および図7に示すロボットアームにおけるジョイント配列であるが、RPRPジョイント配列とベースの間に追加のピッチジョイントを含むものである。
2.RPRPR:即ち、図3および図7に示すロボットアームにおけるジョイント配列であるが、RPRPジョイント配列とリストの間に追加のロールジョイントを含むものである。
3.PRPRPR:即ち、連続する3組のRPであって、図3および図7に示すロボットアームにおけるジョイント配列に類似しているが、RPRPジョイント配列とベースの間に追加のピッチジョイントを含むと共に、RPRPジョイント配列とリストの間に追加のロールジョイントを含むものである。
アームに対してさらにジョイントを追加してもよい。
Claims (14)
- 関節式末端部を含んでいる外科用ロボットコンポーネントであり、前記末端部が、
取付部が連結されている先端セグメントと、
中間セグメントと、
該末端部が前記外科用ロボットコンポーネントの残りの部分に取り付けられるようにする基部セグメントと、
前記先端セグメントと前記中間セグメントの間に設けられる第1関節であり、第1軸を中心とした該先端セグメントと該中間セグメントとの相対回転を許容する前記第1関節と、
該中間セグメントと前記基部セグメントの間に設けられる第2関節であり、第2軸を中心とした前記中間セグメントと該基部セグメントとの相対回転を許容する前記第2関節と、
を含んで構成され、
該中間セグメントが、
第3軸と第4軸を中心とした該先端セグメントと前記基部セグメントとの相対回転を許容する第3関節と、
前記第3軸周りのトルクを感知する第1トルクセンサと、
前記第4軸周りのトルクを感知する第2トルクセンサと、
を含んで構成され、
前記第3関節の少なくともひとつのコンフィギュレーションにおいて、前記第1軸と前記第2軸が平行であり、該第3軸と該第4軸が第1軸を横切り、前記第3軸と前記第4軸が相互に横切るように、前記第1関節、前記第2関節、および該第3関節が配置されている
ことを特徴とする該外科用ロボットコンポーネント。 - 前記末端部が、前記第1軸周りのトルクを感知する第3トルクセンサを更に含んで構成されている請求項1に記載の外科用ロボットコンポーネント。
- 前記末端部が、前記第2軸周りのトルクを感知する第4トルクセンサを更に含んで構成されている請求項1又は2に記載の外科用ロボットコンポーネント。
- 前記コンフィギュレーションにおいて、前記第3軸と前記第4軸が前記第1軸に直交している請求項1〜3の何れか1項に記載の外科用ロボットコンポーネント。
- 前記コンフィギュレーションにおいて、前記第1軸と前記第2軸が同一直線上にある請求項1〜4の何れか1項に記載の外科用ロボットコンポーネント。
- 前記第3軸と前記第4軸が相互に交差している請求項1〜5の何れか1項に記載の外科用ロボットコンポーネント。
- 前記第1関節および/または第2関節が回転ジョイントである請求項1〜6の何れか1項に記載の外科用ロボットコンポーネント。
- 前記第3関節が球面ジョイントあるいは一対の回転ジョイントおよび/またはユニバーサルジョイントである請求項1〜7の何れか1項に記載の外科用ロボットコンポーネント。
- 前記取付部を前記基部セグメントに対して関節式に連結する唯一の媒体が前記第1関節、前記第2関節、および前記第3関節である請求項1〜8の何れか1項に記載の外科用ロボットコンポーネント。
- 前記取付部が前記第1軸上に位置している請求項1〜9の何れか1項に記載の外科用ロボットコンポーネント。
- 前記外科用ロボットコンポーネントが外科用ロボットアームの端部に位置しており、前記取付部に取り付けられた外科用器具を更に含んでいる請求項1〜10の何れか1項に記載の外科用ロボットコンポーネント。
- 前記外科用器具が前記第1軸に略沿う方向に延びる請求項11に記載の外科用ロボットコンポーネント。
- 前記外科用ロボットコンポーネントが外科用器具の端部に位置しており、前記取付部に取り付けられた外科用エンドエフェクタを更に含んでいる請求項1〜10の何れか1項に記載の外科用ロボットコンポーネント。
- 前記外科用エンドエフェクタが前記第1軸に略沿う方向に延びる請求項13に記載の外科用ロボットコンポーネント。
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Application Number | Priority Date | Filing Date | Title |
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GB1508260.5 | 2015-05-14 | ||
GB1508260.5A GB2538497B (en) | 2015-05-14 | 2015-05-14 | Torque sensing in a surgical robotic wrist |
PCT/GB2016/051389 WO2016181164A1 (en) | 2015-05-14 | 2016-05-13 | Torque sensing in a surgical robotic wrist |
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JP2018516656A JP2018516656A (ja) | 2018-06-28 |
JP2018516656A5 JP2018516656A5 (ja) | 2019-06-06 |
JP6678686B2 true JP6678686B2 (ja) | 2020-04-08 |
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US (4) | US10206752B2 (ja) |
EP (1) | EP3294183A1 (ja) |
JP (1) | JP6678686B2 (ja) |
CN (2) | CN112137724A (ja) |
GB (1) | GB2538497B (ja) |
WO (1) | WO2016181164A1 (ja) |
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WO2016181164A1 (en) | 2016-11-17 |
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CN107666875B (zh) | 2020-10-30 |
US20240108430A1 (en) | 2024-04-04 |
JP2018516656A (ja) | 2018-06-28 |
US10206752B2 (en) | 2019-02-19 |
GB201508260D0 (en) | 2015-06-24 |
US11903668B2 (en) | 2024-02-20 |
EP3294183A1 (en) | 2018-03-21 |
US11291516B2 (en) | 2022-04-05 |
GB2538497A (en) | 2016-11-23 |
CN107666875A (zh) | 2018-02-06 |
GB2538497B (en) | 2020-10-28 |
CN112137724A (zh) | 2020-12-29 |
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