JP6778242B2 - 手術用ロッドを曲げるための手術用ロボットシステム、および関連する方法および装置 - Google Patents
手術用ロッドを曲げるための手術用ロボットシステム、および関連する方法および装置 Download PDFInfo
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- A61B17/56—Surgical instruments or methods for treatment of bones or joints; Devices specially adapted therefor
- A61B17/58—Surgical instruments or methods for treatment of bones or joints; Devices specially adapted therefor for osteosynthesis, e.g. bone plates, screws, setting implements or the like
- A61B17/88—Osteosynthesis instruments; Methods or means for implanting or extracting internal or external fixation devices
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- A—HUMAN NECESSITIES
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- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
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- A61B17/56—Surgical instruments or methods for treatment of bones or joints; Devices specially adapted therefor
- A61B17/58—Surgical instruments or methods for treatment of bones or joints; Devices specially adapted therefor for osteosynthesis, e.g. bone plates, screws, setting implements or the like
- A61B17/68—Internal fixation devices, including fasteners and spinal fixators, even if a part thereof projects from the skin
- A61B17/70—Spinal positioners or stabilisers ; Bone stabilisers comprising fluid filler in an implant
- A61B17/7001—Screws or hooks combined with longitudinal elements which do not contact vertebrae
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- A61B17/58—Surgical instruments or methods for treatment of bones or joints; Devices specially adapted therefor for osteosynthesis, e.g. bone plates, screws, setting implements or the like
- A61B17/68—Internal fixation devices, including fasteners and spinal fixators, even if a part thereof projects from the skin
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
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- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
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Description
本出願は、2017年11月9日に出願された仮出願第62/583,851号の優先権を主張する非仮出願であり、その全体が本明細書に組み込まれる。
脊髄融合は、脊椎の動きを制限し、痛みを伴う症状を和らげるために、脊椎の痛みを伴う部分を融合させて脊柱の変形を矯正するために使用される外科施術である。脊髄融合手術は、脊柱側弯症および異常脊柱後弯症などの異常な脊柱湾曲、例えば、変性椎間板疾患、脊椎すべり症、脊髄神経圧迫を引き起こす外傷、感染または腫瘍によって引き起こされる椎骨不安定性、その他の症状を治療するために一般的に利用されている。
本発明の概念のいくつかの実施形態によれば、手術用ロッドを自動的に曲げるためのロボットシステムが開示される。ロボットシステムは、ロボットベースと、ロボットベースに結合されたロッド供給サブアセンブリとを含む。ロッド供給サブアセンブリは、手術用ロッドをその中に保持し、手術用ロッドを手術用ロッドの長手方向軸に平行な方向に選択的に移動させるように構成される供給アクチュエータを含む。ロボットシステムは、ロボットベースに結合されたブレーキサブアセンブリをさらに含む。ブレーキサブアセンブリは、ロッド供給サブアセンブリから手術用ロッドを受け取り、手術用ロッドの第1の部分をブレーキサブアセンブリに対して選択的に固定するように構成されるブレーキアクチュエータを含む。ロボットシステムは、ロボットベースに結合された曲げサブアセンブリをさらに含む。曲げサブアセンブリは、手術用ロッドの長手方向軸に垂直な第1の回転軸の周りに選択的に回転するように構成される曲げアクチュエータを含む。曲げアクチュエータを回転させることにより、手術用ロッドの第1の部分および第2の部分が第1の曲げ角度を画定するように、曲げアクチュエータが、手術用ロッドの第2の部分と係合し、手術用ロッドの第2の部分を手術用ロッドの第1の部分に対して曲げる。
本開示のさらなる理解を提供するために含まれ、本出願の一部を構成する添付の図面は、本発明の概念の特定の非限定的な実施形態を示す。図面では:
図1は、いくつかの実施形態による、手術用ロッドを自動的に曲げるためのロボット曲げシステムの図である。
本開示は、その適用において、本明細書の説明に記載された、または図面に示された構成の詳細および構成要素の配置に限定されないことを理解されたい。本開示の教示は、他の実施形態において使用され、実施され、様々な方法で実施され、または実行されてもよい。また、本明細書で使用される表現および用語は、説明のためのものであり、限定的であると見なされるべきではないことを理解されたい。本明細書中の「含む(including)」「備える(comprising)」または「有す(having)」およびそれらの変形は、その後に列挙されるアイテムおよびその等価物ならびに追加のアイテムを含むことを意味する。「装着される(mounted)」、「接続される(connected)」、「支持される(supported)」および「結合される(coupled)」という用語およびそれらの変形は、広範に使用され、直接的および間接的な取り付け、接続、支持および結合の両方を包含する。さらに、「接続される(connected)」および「結合される(coupled)」は、物理的または機械的な接続または結合に限定されない。
Claims (18)
- 手術用ロッドを自動的に曲げるためのロボットシステムであって、
機械ハウジングと、
前記機械ハウジングが含むロッド供給サブアセンブリであって、
中に手術用ロッドを保持し、
前記手術用ロッドを前記手術用ロッドの長手方向軸に平行な方向に選択的に移動させるように構成される、供給アクチュエータを含む、ロッド供給サブアセンブリと、
前記機械ハウジングが含むブレーキサブアセンブリであって、
前記手術用ロッドを前記ロッド供給サブアセンブリから受け取り、
前記手術用ロッドの第1の部分を前記ブレーキサブアセンブリに対して選択的に固定するように構成される、ブレーキアクチュエータを含む、ブレーキサブアセンブリと、
前記機械ハウジングが含む曲げサブアセンブリであって、
前記手術用ロッドの前記長手方向軸に垂直な第1の回転軸の周りに選択的に回転するよう構成される曲げアクチュエータを含み、前記曲げアクチュエータを回転させることにより、前記手術用ロッドの前記第1の部分および第2の部分が第1の曲げ角度を画定するように、前記曲げアクチュエータが、前記手術用ロッドの前記第2の部分と係合し、前記手術用ロッドの前記第2の部分を前記手術用ロッドの前記第1の部分に対して曲げる、曲げサブアセンブリと、
前記機械ハウジングに取り外し可能に装着されたモータハウジングであって、
前記モータハウジングを、前記機械ハウジングに装着した状態において、前記供給アクチュエータと、前記ブレーキアクチュエータと、前記曲げアクチュエータとを動作させる、少なくとも一つのモータを有するモータハウジングと、を含み、
前記モータハウジングを、前記機械ハウジングから取り外した状態において、前記機械ハウジングに装着された全ての部品が、オートクレーブ殺菌可能に構成される、ロボットシステム。 - 前記ロッド供給サブアセンブリは、
前記モータと前記供給アクチュエータとの間に結合され、前記モータから前記供給アクチュエータに動力を伝達して、前記手術用ロッドを前記手術用ロッドの前記長手方向軸に平行な方向に選択的に移動させるように構成される供給アクチュエータリンク機構をさらに含む、請求項1に記載のロボットシステム。 - 前記供給アクチュエータは、前記供給アクチュエータリンク機構が、前記モータから前記供給アクチュエータに動力を伝達して前記手術用ロッドを前記手術用ロッドの前記長手方向軸の周りに選択的に回転させるようにさらに構成される、ようにさらに構成される、請求項2に記載のロボットシステム。
- 前記モータは、第1のモータと第2のモータとを含み、
前記供給アクチュエータリンク機構は、前記第1のモータと前記供給アクチュエータとの間に結合された第1の供給アクチュエータリンク機構と、前記第2のモータと前記供給アクチュエータとの間に結合された第2の供給アクチュエータリンク機構とを含み、
前記第1のモータを第1の回転方向に選択的に動作させ、および前記第2のモータを第2の回転方向に選択的に動作させることにより、前記第1の供給アクチュエータリンク機構および前記第2の供給アクチュエータリンク機構が、前記手術用ロッドを前記手術用ロッドの前記長手方向軸に平行な第1の長手方向に動かす、請求項3に記載のロボットシステム。 - 前記第1のモータを前記第1の回転方向とは反対の第3の回転方向に選択的に動作させ、および前記第2のモータを前記第2の回転方向とは反対の第4の回転方向に選択的に動作させることにより、前記第1の供給アクチュエータリンク機構および前記第2の供給アクチュエータリンク機構が前記手術用ロッドを前記第1の長手方向とは反対の第2の長手方向に動かす、請求項4に記載のロボットシステム。
- 前記供給アクチュエータは、前記手術用ロッドを前記手術用ロッドの前記長手方向軸の周りに選択的に回転させるようにさらに構成され、
前記第1のモータを前記第1の回転方向に選択的に動作させ、および第2のモータを前記第4の回転方向に選択的に動作させることにより、前記第1の供給アクチュエータリンク機構および前記第2の供給アクチュエータリンク機構が前記手術用ロッドを第5の回転方向に回転させる、請求項5に記載のロボットシステム。 - 前記第1のモータを前記第3の回転方向に選択的に動作させ、および前記第2のモータを前記第2の回転方向に選択的に動作させることよって、前記第1の供給アクチュエータリンク機構および前記第2の供給アクチュエータリンク機構が前記手術用ロッドを前記第5の回転方向とは反対の第6の回転方向に回転させる、請求項6に記載のロボットシステム。
- 前記ブレーキサブアセンブリは、
前記モータと前記ブレーキアクチュエータとの間に結合され、前記モータから前記ブレーキアクチュエータに動力を伝達して、前記手術用ロッドの前記第1の部分を前記ブレーキサブアセンブリに対して選択的に固定するように構成されるブレーキアクチュエータリンク機構をさらに含む、請求項1に記載のロボットシステム。 - 前記ブレーキサブアセンブリは、前記手術用ロッドを選択的に切断するように構成されるブレードをさらに含む、請求項8に記載のロボットシステム。
- 前記ブレーキアクチュエータリンク機構は、前記モータから前記ブレードに動力を伝達して前記手術用ロッドを選択的に切断するようにさらに構成される、請求項9に記載のロボットシステム。
- 前記ブレーキアクチュエータが中立位置にあるとき、前記モータを第1の回転方向に選択的に動作させることにより、前記ブレーキアクチュエータリンク機構が前記ブレーキアクチュエータを前記中立位置から係合位置に動かして、前記手術用ロッドの前記第1の部分を前記ブレーキサブアセンブリに対し、選択的に固定し、
前記ブレーキアクチュエータが前記係合位置にあるとき、前記モータを前記第1の回転方向とは反対の第2の回転方向に選択的に動作させることにより、前記ブレーキアクチュエータリンク機構が前記ブレーキアクチュエータを前記係合位置から前記中立位置に移動させ、前記手術用ロッドの前記第1の部分を前記ブレーキサブアセンブリに対して選択的に解放する、請求項10に記載のロボットシステム。 - 前記ブレーキアクチュエータが前記中立位置にあるとき、前記モータを前記第2の回転方向に選択的に動作させることにより、前記ブレードが前記手術用ロッドを切断する、請求項11に記載のロボットシステム。
- 前記曲げサブアセンブリは、
前記モータと前記曲げアクチュエータの間に結合され、前記モータから前記曲げアクチュエータに動力を伝達し、前記曲げアクチュエータを前記第1の回転軸の周りに選択的に回転させ、前記手術用ロッドの前記第2の部分を前記手術用ロッドの前記第1の部分に対して曲げるように構成される曲げアクチュエータリンク機構をさらに含む、請求項1に記載のロボットシステム。 - 前記曲げアクチュエータは、前記手術用ロッドの前記第2の部分と係合するように構成されるローラーベアリングを含み、曲げ中に前記手術用ロッドの前記第2の部分が動くことにより、前記ローラーベアリングが、前記第1の回転軸に平行な第2の回転軸の周りに回転する、請求項13に記載のロボットシステム。
- 前記供給アクチュエータは、
前記曲げアクチュエータが前記手術用ロッドの前記第1の部分に対して前記手術用ロッドの前記第2の部分を曲げた後、前記手術用ロッドを前記手術用ロッドの前記長手方向軸に平行な方向に選択的に移動させ、
前記手術用ロッドを、前記手術用ロッドの前記長手方向軸の周りに選択的に回転させるようにさらに構成され、
前記ブレーキアクチュエータは、
前記手術用ロッドの第3の部分を前記ブレーキサブアセンブリに対して選択的に固定するようにさらに構成され、
前記曲げアクチュエータは、
前記手術用ロッドの前記長手方向軸に垂直な前記第1の回転軸の周りに選択的に回転し、
前記手術用ロッドの前記第3の部分および前記第1の部分が第2の曲げ角度を画定するように、前記第1の回転軸の周りに選択的に回転し、前記手術用ロッドの前記第1の部分を前記手術用ロッドの前記第3の部分に対して曲げるようにさらに構成される、請求項1に記載のロボットシステム。 - トランスミッションインプットと、
前記トランスミッションインプットと前記供給アクチュエータとの間に結合された第1のトランスミッションサブアセンブリと、
前記トランスミッションインプットと前記ブレーキアクチュエータとの間に結合された第2のトランスミッションサブアセンブリと、
前記トランスミッションインプットと前記曲げアクチュエータとの間に結合された第3のトランスミッションサブアセンブリと、を含む、第1のハウジングと、
前記モータを動作させることに応答して選択的に動作するように構成されるトランスミッションアウトプットを含む、第2のハウジングとをさらに含み、
前記第1のハウジングは、前記第2のハウジングと係合し、前記第2のハウジングの前記トランスミッションアウトプットを前記第1のハウジングの前記トランスミッションインプットに結合するように構成され、前記トランスミッションアウトプットを選択的に動作させることにより、前記トランスミッションインプットが動力を前記モータから、前記供給アクチュエータ、前記ブレーキアクチュエータ、および前記曲げアクチュエータに選択的に伝達する、請求項1に記載のロボットシステム。 - 前記第1のハウジングは、前記第2のハウジングから選択的に取り外し可能に構成される、請求項16に記載のロボットシステム。
- プロセッサ回路と、
前記プロセッサ回路に結合されたメモリと、をさらに含み、前記メモリは、前記プロセッサ回路によって実行されるとき、前記プロセッサ回路に、
前記ロッド供給サブアセンブリに前記手術用ロッドを選択的に移動させ、
前記ブレーキサブアセンブリに前記手術用ロッドの前記第1の部分を選択的に固定させ、
前記曲げサブアセンブリを前記第1の回転軸の周りに選択的に回転させて前記手術用ロッドの前記第2の部分と係合させ、前記手術用ロッドの前記第2の部分を前記手術用ロッドの前記第1の部分に対して曲げる、機械可読命令を含む、請求項1に記載のロボットシステム。
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